Synthesis of Decentralized Variable Gain Robust Controllers for a Class of Large-Scale Serially Connected Systems with Nonlinear Perturbations via Piecewise Lyapunov Functions

摘要

In this paper, we present a decentralized variable gain robust controller for a class of large-scale serially connected systems with nonlinear perturbations via piecewise Lyapunov functions. The nonlinear perturbation means the interconnections between the subsystems and uncertainties, and the proposed decentralized variable gain robust controller is designed so as to reduce the effect of uncertainties and interconnections. In this paper, on the basis of the concept of piecewise Lyapunov functions, we show sufficient conditions for the existence of the proposed decentralized variable gain robust controller. Finally, numerical examples are presented.