Control Contraction Metric Synthesis for Discrete-time Nonlinear Systems

摘要

Flexible manufacturing has been the trend in the area of the modern chemical process nowadays. One of the essential characteristics of flexible manufacturing is to track time-varying target trajectories (e.g. diversity and quantity of products). A possible tool to achieve time-varying targets is contraction theory. However, the contraction theory was developed for continuous time systems and there lacks analysis and synthesis tools for discrete-time systems. This article develops a systematic approach to discrete-time contraction analysis and control synthesis using Discrete-time Control Contraction Metrics (DCCM) which can be implemented using Sum of Square (SOS) programming. The proposed approach is demonstrated by illustrative example.