Nonlinear feedback control providing plant output in given set

Abstract

A novel method is proposed for control of nonlinear systems providing the plant output in a given set at any time. The method is based on a special change of coordinates such that the initial problem with given restrictions on an output variable can be represented as the problem of the input-to-state stability analysis of a new system without restrictions. New control laws for systems with bounded and sector bounded nonlinearities as well as for nonlinear systems with an arbitrary relative degree under parametric uncertainty and nonlinear disturbances are proposed. Examples of change of coordinates are given and utilised to design the control algorithms. The simulations confirm theoretical results and illustrate the efficiency of the proposed method in the presence of parametric uncertainty and external disturbances.

Keywords:

• Nonlinear control
• coordinate transformation
• input-to-state stability
• disturbance

Acknowledgements

This work was supported by Russian Science Foundation (grant number 18-79-10104) in IPME RAS.

Disclosure statement

No potential conflict of interest was reported by the author(s).

Additional information

Funding

This work was supported by Russian Science Foundation [grant number 18-79-10104].