State difference feedback for stabilizing uncertain steady states of non-linear systems

Hideki Kokame, Kentaro Hirata, Keiji Konishi, Takehiro Mori

Research output: Contribution to journalArticle

36 Citations (Scopus)

Abstract

Supposing a non-linear system is subjected to parametric uncertainties, the present paper aims at stabilizing its unstable steady states. A distinctive feature of the problem is that exact information about the steady state is unavailable. To cope with the difficulty, we have examined the applicability of the state difference feedback which uses the difference between the present state x(t) and the past state x(t - T). A rigorous stability analysis has been executed for the case where state deviations are controllable by a single input variable. The stability analysis has led to a favourable conclusion that if the number of unstable modes is just two, and if they are not associated with the origin in the complex plane, we are always able to find a controller which stabilizes the deviations from the unknown steady state. Design process is illustrated by using two kinds of pendulum systems.

Original languageEnglish
Pages (from-to)537-546
Number of pages10
JournalInternational Journal of Control
Volume74
Issue number6
DOIs
Publication statusPublished - Apr 15 2001
Externally publishedYes

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications

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