Robust stabilization of non-linear systems by discontinuous dynamic state feedback
This paper deals with robust stabilization of a system of the form \[ \dot x= f(x)+ g(x)u+ p(x)w, \] where \(x\in\mathbb{R}^n\) is the state, \(u\in \mathbb{R}^m\) is the control, \(w\in \mathbb{R}^p\) is a bounded unknown disturbance (\(|w_i|\leq\overline w_i\) for all \(i= 1,\dots, p\) and for some given constants \(\overline w_i\)). Introducing new internal states \(\zeta_1\), \(\zeta_2\), the authors define a function \(C(x,\zeta)\). They construct a discontinuous dynamic feedback whose discontinuity surface is given by \(C(x,\zeta)= 0\). The closed-loop system is driven to the origin (or, at least, to a neighborhood of the origin). The main idea is a repeated use of certain methods of game theory based on a partial differential equation of the Hamilton-Jacobi type.
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