Electrical & Computer Engineering Faculty Publications
Document Type
Article
Publication Date
6-15-1988
Abstract
This paper deals with the class of nonlinear systems described by the equation M(q(t))q(t) = f(t) - N(q(t),q¿(t)) with f(t) a control input. We employ a simple method of control design which has two stages. First, a global linearization is performed to yield a decoupled controllable linear system. Then a controller is designed for this linear system. We provide a rigorous analysis of the effects of uncertain dynamics, which we study using robustness results in the time domain based on a Lyapunov equation and the total stability theorem. Using this approach we are able to give meaningful robustness bounds which justify assumptions that are currently made in the literature in an ad hoc fashion.
Publisher
IEEE
Publication Title
American Control Conference
First Page
2196
Last Page
2198
Language (ISO)
English
Sponsorship
IEEE
Keywords
Control design, Control system analysis, Linear systems, Nonlinear control systems
Recommended Citation
Abdallah, Chaouki T. and F. L. Lewis. "On Robustness Analysis in the Control of Nonlinear Systems." American Control Conference (1988): 2196-2198. https://digitalrepository.unm.edu/ece_fsp/104
