Lyapunov-based continuous-time nonlinear controller redesign for sampled-data implementation

: Given a continuous-time controller and a Lyapunov function that shows global asymptotic stability for the closed loop system, we provide several results for modification of the controller for sampleddata implementation. The main idea behind this approach is to use a particular structure for the redesigned controller and the main technical result is to show that the Fliess series expansions (in the sampling period T) of the Lyapunov difference for the sampled-data system with the redesigned controller have a very special form that is useful for controller redesign. We present results on controller redesign that achieve two different goals. The first goal is making the lower order terms (in T) in the series expansion of the Lyapunov difference with the redesigned controller more negative. These control laws are very similar to those obtained from Lyapunov based redesign of continuous-time systems for robustification of control laws and they often lead to corrections of the well known &...

• Type: Journal
• Year: 2005
• Where: AUTOMATICA
• Authors: Dragan Nesic, Lars Grüne
• Keywords: AUTOMATICA 2005, Lower Order Terms, Lyapunov Difference, Redesigned Controller