Multi-Loop Robust/Optimal Design for a Class of Nonlinear Systems

摘要

A robust-stable design is proposed for a class of nonlinear systems which are subjected to additive nonlinear perturbations. The design technique is based on the combination of various loop transformations that produce a stability equivalent system for which, unlike the case of the original system, it is possible to obtain upper bounds on the relevant gains. The small-gain-theorem ensures theoretically the stability of the design. A parametrization procedure is introduced to simplify the design, and in turn, the actual controllers are computed from the parametrized variables.