An extension of the Georgiou-Smith example: boundedness and attractivity in the presence of unmodelled dynamics via nonlinear PI control

DOI10.1016/J.SYSCONLE.2016.02.004MaRDI QIDQ286497zbMATH OpenOpenAlexFDO

Authors Haris E. Psillakis

Publication date 20 May 2016

Published in Systems \& Control Letters (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1407.7213

zbMATH Keywords

robustnessnonlinear PI controlNussbaum function

Mathematics Subject Classification ID

Sensitivity (robustness) (93B35) Nonlinear systems in control theory (93C10) Perturbations in control/observation systems (93C73)

Abstract: In this paper, a nonlinear extension of the Georgiou-Smith system is considered and robustness results are proved for a class of nonlinear PI controllers with respect to fast parasitic first-order dynamics. More specifically, for a perturbed nonlinear system with sector bounded nonlinearity and unknown control direction, sufficient conditions for global boundedness and attractivity have been derived. It is shown that the closed loop system is globally bounded and attractive if (i) the unmodelled dynamics are sufficiently fast and (ii) the PI control gain has the Nussbaum function property. For the case of nominally unstable systems, the Nussbaum property of the control gain appears to be crucial. A simulation study confirms the theoretical results.

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(3)

• Integrator backstepping with the nonlinear PI method: an integral equation approach
• PI consensus error transformation for adaptive cooperative control of nonlinear multi-agent systems
• Nonlinear PI robust adaptive control for uncertain multiple-input multiple-output nonlinear systems: application to the visual servoing problem

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