TY - GEN
T1 - Control with exponentially decaying Lyapunov functions and its use for systems with input saturation
AU - Buhl, Michael
AU - Lohmann, Boris
N1 - Publisher Copyright:
© 2009 EUCA.
PY - 2014/3/26
Y1 - 2014/3/26
N2 - This paper presents a design method for feedback controls which leads to an exponentially decaying Lyapunov function for the closed-loop system. The rate of decay is the only and thus central parameter of the proposed design. The tight connection between the control law and the Lyapunov function is particularly favorable once the input saturation becomes active. In that case an analytic estimate for the domain of attraction is derived by using the Lyapunov function. Increasing the rate of decay decreases the size of the estimate. Hence the online variation of the rate of decay turns out to be a natural way for designing a variable-structure controller.
AB - This paper presents a design method for feedback controls which leads to an exponentially decaying Lyapunov function for the closed-loop system. The rate of decay is the only and thus central parameter of the proposed design. The tight connection between the control law and the Lyapunov function is particularly favorable once the input saturation becomes active. In that case an analytic estimate for the domain of attraction is derived by using the Lyapunov function. Increasing the rate of decay decreases the size of the estimate. Hence the online variation of the rate of decay turns out to be a natural way for designing a variable-structure controller.
UR - http://www.scopus.com/inward/record.url?scp=84955197280&partnerID=8YFLogxK
U2 - 10.23919/ecc.2009.7074889
DO - 10.23919/ecc.2009.7074889
M3 - Conference contribution
AN - SCOPUS:84955197280
T3 - 2009 European Control Conference, ECC 2009
SP - 3148
EP - 3153
BT - 2009 European Control Conference, ECC 2009
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2009 10th European Control Conference, ECC 2009
Y2 - 23 August 2009 through 26 August 2009
ER -