Constrained Robust Sampled-data Control for a Class of Nonlinear Uncertain Systems

摘要

Robust sampled-data control for a class of nonlinear uncertain systems with pre-specified time-domain performances is considered in this paper. Specified time-domain performances are described as the constraints on the states of system. A new notion of L_2 gain is also proposed for such constrained systems. First the constrained control for general sampled-data systems-impulsive systems or systems with jumps is considered in the paper based on the practical stability theory and the newly proposed notion of L_2 gain. Then robust sampled-data control for a class of nonlinear systems with constraints on the states is developed. The robust sampled-data controller is composed of the memoryless nonlinear part and the linear part. The linear part of sampled-data controller is solved from certain linear matrix differential inequality subject to the parametric conditions, which can be solved by Matlab LMITool, if the Lyapunov function can be specified as a certain types of piece-wise continuous functions.