CLF Based Designs with Robustness to
Dynamic Input Uncertainties
- AUTHORS: M. Jankovic, R. Sepulchre, P.V. Kokotovic
- ABSTRACT: The problem of
robust stabilization of nonlinear systems in the presence of input
uncertainties is of great importance in practical implementation.
Stabilizing control laws may not be
robust to this type of uncertainty, especially if cancellation of
nonlinearities is used in the design. By
exploiting a connection between robustness and optimality,
``domination redesign'' of the control Lyapunov function (CLF)
based Sontag's formula
has been shown
to possess robustness to static and dynamic
input uncertainties. In this paper we provide a sufficient condition for
the domination redesign to apply. This condition relies on properties
of local approximations of the system and of the CLF.
We show that a domination redesign may not exist when these conditions are
violated and illustrate how these conditions may guide the choice of a CLF
which is suitable for domination redesign.
- STATUS: Published in Systems
and Control Letters, 37, pp. 45-54, 1999.