We propose a redesign strategy to avoid an arbitrary value of the input signal. With a hybrid architecture based on a switching logic with two modes we obtain robust global asymptotic stability and ensure that the input never takes the unwanted value, while preserving the nominal closed-loop behaviour in a neighbourhood of the origin. In the case where the minimization problem is too computationally expensive, we provide a simpler, albeit more conservative, way to determine the scaling factor. We then present a nonlinear generalization to a fairly general class of input-affine nonlinear systems. Numerical examples are used to illustrate the theoretical results.
A Hybrid Redesign for Robust Stabilization Without Unit Input / Ballaben, Riccardo; Sutulovic, Uros; Invernizzi, Davide; Zaccarian, Luca. - In: IEEE CONTROL SYSTEMS LETTERS. - ISSN 2475-1456. - 7:(2023), pp. 2575-2580. [10.1109/lcsys.2023.3287670]
A Hybrid Redesign for Robust Stabilization Without Unit Input
Ballaben, Riccardo;Sutulovic, Uros;Zaccarian, Luca
2023-01-01
Abstract
We propose a redesign strategy to avoid an arbitrary value of the input signal. With a hybrid architecture based on a switching logic with two modes we obtain robust global asymptotic stability and ensure that the input never takes the unwanted value, while preserving the nominal closed-loop behaviour in a neighbourhood of the origin. In the case where the minimization problem is too computationally expensive, we provide a simpler, albeit more conservative, way to determine the scaling factor. We then present a nonlinear generalization to a fairly general class of input-affine nonlinear systems. Numerical examples are used to illustrate the theoretical results.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione