Equilibrium-Independent Control of Continuous-Time Nonlinear Systems via the LPV Framework

• 成果类型: Article
• 署名作者: Koelewijn, Patrick J. W.; Weiland, Siep; Toth, Roland
• 署名单位: Eindhoven University of Technology; HUN-REN; HUN-REN Institute for Computer Science & Control
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2025.3569617
• 发表日期: 2025
• 关键词: GAIN; DESIGN

摘要

In this article, we consider the analysis and control of continuous-time nonlinear systems to ensure universal shifted stability and performance, i.e., stability and performance w.r.t. each forced equilibrium point of the system. This equilibrium-free concept is especially beneficial for control problems that require the tracking of setpoints and rejection of persistent disturbances, such as input loads. In this article, we show how the velocity form, i.e., the time-differentiated dynamics of the system, plays a crucial role in characterizing these properties and how the analysis of it can be solved by the application of linear parameter-varying (LPV) methods in a computationally efficient manner. Furthermore, by leveraging the properties of the velocity form and the LPV framework, a novel controller synthesis method is presented which ensures closed-loop universal shifted stability and performance. The proposed controller design is verified experimentally on a real system. In addition, we compare the proposed method to a standard LPV control design, demonstrating the improved stability and performance guarantees of the new approach.