Strictly Positive Realness-Based Feedback Gain Design Under Imperfect Input-Output Feedback Linearization in Prioritized Control Problem

Sang Ik An, Gyunghoon Park, Dongheui Lee

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

The prioritized control problem is a process to find a control strategy for a dynamical system with prioritized multiple outputs, so that it can operate outside its nonsingular domain. Singularity typically leads to imperfect inversion in the prioritized control problem, which in turn results in imperfect input-output feedback linearization. In this paper, we propose a method based on the Kalman-Yakubovich-Popov lemma that compensates nonlinear feedback terms caused by the imperfect inversion of the prioritized control problem. In order to realize this idea, we prove existence of a feedback gain matrix that gives a strictly positive real transfer function whose output matrix is identical to the feedback gain matrix. Our proof is constructive so that a set of such matrices can be found. Also, we provide a numerical approach that gives a larger set of feedback gain matrices and validate the result with numerical examples.

Original languageEnglish
Title of host publication2023 62nd IEEE Conference on Decision and Control, CDC 2023
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2622-2629
Number of pages8
ISBN (Electronic)9798350301243
DOIs
StatePublished - 2023
Externally publishedYes
Event62nd IEEE Conference on Decision and Control, CDC 2023 - Singapore, Singapore
Duration: 13 Dec 202315 Dec 2023

Publication series

NameProceedings of the IEEE Conference on Decision and Control
ISSN (Print)0743-1546
ISSN (Electronic)2576-2370

Conference

Conference62nd IEEE Conference on Decision and Control, CDC 2023
Country/TerritorySingapore
CitySingapore
Period13/12/2315/12/23

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