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Introduction To Nonlinear Control Lecture # 6 State Feedback Stabilization

The document describes backstepping and passivity-based control techniques for state feedback stabilization of nonlinear systems. Backstepping involves viewing one state variable as a "virtual control" for another and designing feedback terms recursively. Passivity-based control involves choosing an output such that the system becomes passive, then using output feedback of the form u = -φ(y) to globally stabilize the system. Examples are provided to illustrate these techniques.

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Omar Zeb Khan
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0% found this document useful (0 votes)
63 views56 pages

Introduction To Nonlinear Control Lecture # 6 State Feedback Stabilization

The document describes backstepping and passivity-based control techniques for state feedback stabilization of nonlinear systems. Backstepping involves viewing one state variable as a "virtual control" for another and designing feedback terms recursively. Passivity-based control involves choosing an output such that the system becomes passive, then using output feedback of the form u = -φ(y) to globally stabilize the system. Examples are provided to illustrate these techniques.

Uploaded by

Omar Zeb Khan
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
You are on page 1/ 56

Introduction to Nonlinear Control

Lecture # 6

State Feedback Stabilization

– p. 1/5
Backstepping

η̇ = f (η) + g(η)ξ
ξ̇ = fa (η, ξ) + ga (η, ξ)u
η ∈ Rn , ξ, u ∈ R, ga (η, ξ) 6= 0

Stabilize the origin using state feedback

View ξ as “virtual” control input to

η̇ = f (η) + g(η)ξ

Design ξ = φ(η) to stabilize the origin of

η̇ = f (η) + g(η)φ(η)
∂V
[f (η) + g(η)φ(η)] ≤ −W (η), ∀η∈D
∂η

– p. 2/5
z = ξ − φ(η)

η̇ = [f (η) + g(η)φ(η)] + g(η)z


∂φ
ż = fa (η, ξ) + ga (η, ξ)u − [f (η) + g(η)ξ]
∂η

Vc (η, ξ) = V (η) + 12 z 2

∂V ∂V
V̇c = [f (η) + g(η)φ(η)] + g(η)z
∂η ∂η
 
∂φ
+ z fa (η, ξ) + ga (η, ξ)u − [f (η) + g(η)ξ]
∂η

– p. 3/5

∂V
V̇c ≤ −W (η) + z g(η) + fa (η, ξ)
∂η

∂φ
+ ga (η, ξ)u − [f (η) + g(η)ξ]
∂η


1 ∂φ
u = −fa (η, ξ) + [f (η) + g(η)ξ]
ga (η, ξ) ∂η

∂V
− g(η) − kz , k>0
∂η

V̇c ≤ −W (η) − kz 2

– p. 4/5
Example

ẋ1 = x21 − x31 + x2 , ẋ2 = u

ẋ1 = x21 − x31 + x2

x2 = φ(x1 ) = −x21 − x1 ⇒ ẋ1 = −x1 − x31

V (x1 ) = 12 x21 ⇒ V̇ = −x21 − x41 , ∀ x1 ∈ R

z2 = x2 − φ(x1 ) = x2 + x1 + x21

ẋ1 = −x1 − x31 + z2


ż2 = u + (1 + 2x1 )(−x1 − x31 + z2 )

– p. 5/5
Vc (x) = 12 x21 + 21 z22

V̇c = x1 (−x1 − x31 + z2 )


+ z2 [u + (1 + 2x1 )(−x1 − x31 + z2 )]

V̇c = −x21 − x41


+ z2 [x1 + (1 + 2x1 )(−x1 − x31 + z2 ) + u]

u = −x1 − (1 + 2x1 )(−x1 − x31 + z2 ) − z2

V̇c = −x21 − x41 − z22

V̇c = −x21 − x41 − (x2 + x1 + x21 )2

– p. 6/5
Example

ẋ1 = x21 − x31 + x2 , ẋ2 = x3 , ẋ3 = u

ẋ1 = x21 − x31 + x2 , ẋ2 = x3


def
x3 = −x1 − (1 + 2x1 )(−x1 − x31 + z2 ) − z2 = φ(x1 , x2 )

V (x) = 12 x21 + 21 z22 , V̇ = −x21 − x41 − z22


z3 = x3 − φ(x1 , x2 )

ẋ1 = x21 − x31 + x2 , ẋ2 = φ(x1 , x2 ) + z3


∂φ 2 3 ∂φ
ż3 = u − (x1 − x1 + x2 ) − (φ + z3 )
∂x1 ∂x2

– p. 7/5
Vc = V + 12 z32

∂V ∂V
V̇c = (x21 − x31 + x2 ) + (z3 + φ)
∂x1 ∂x2
 
∂φ 2 3 ∂φ
+ z3 u − (x1 − x1 + x2 ) − (z3 + φ)
∂x1 ∂x2

V̇c = −x21 − x41 − (x2 + x1 + x21 )2


 
∂V ∂φ 2 3 ∂φ
+z3 − (x1 − x1 + x2 ) − (z3 + φ) + u
∂x2 ∂x1 ∂x2

∂V ∂φ ∂φ
u=− + (x21 − x31 + x2 ) + (z3 + φ) − z3
∂x2 ∂x1 ∂x2

– p. 8/5
Strict-Feedback Form

ẋ = f0 (x) + g0 (x)z1
ż1 = f1 (x, z1 ) + g1 (x, z1 )z2
ż2 = f2 (x, z1 , z2 ) + g2 (x, z1 , z2 )z3
..
.
żk−1 = fk−1 (x, z1 , . . . , zk−1 ) + gk−1 (x, z1 , . . . , zk−1 )zk
żk = fk (x, z1 , . . . , zk ) + gk (x, z1 , . . . , zk )u

gi (x, z1 , . . . , zi ) 6= 0 for 1 ≤ i ≤ k

– p. 9/5
Example (Recall from Lecture # 5)

η̇ = −η + η 2 ξ, ξ̇ = u Not Feedback Linearizable

u = −kξ, k > 0, achieves semiglobal stabilization


η̇ = −η + η 2 ξ
ξ = 0 ⇒ η̇ = −η
V0 = 12 η 2 ⇒ V̇0 = −η 2 , ∀ η ∈ R

V = 12 (η 2 + ξ2 )

V̇ = η(−η + η 2 ξ) + ξu = −η 2 + ξ(η 3 + u)

u = −η 3 −kξ, k > 0 ⇒ V̇ = −η 2 −kξ2 Global stabilization

– p. 10/5
Passivity Based Control

ẋ = f (x, u), y = h(x)

f (0, 0) = 0

T ∂V
u y ≥ V̇ = f (x, u)
∂x
Theorem 14.4: If the system is
(1) passive with a radially unbounded positive definite
storage function and
(2) zero-state observable,
then the origin can be globally stabilized by

u = −φ(y), φ(0) = 0, y T φ(y) > 0 ∀ y 6= 0

– p. 11/5
Proof:
∂V
V̇ = f (x, −φ(y)) ≤ −y T φ(y) ≤ 0
∂x

V̇ (x(t)) ≡ 0 ⇒ y(t) ≡ 0 ⇒ u(t) ≡ 0 ⇒ x(t) ≡ 0


Apply the invariance principle

A given system may be made passive by


(1) Choice of output,
(2) Feedback,
or both

– p. 12/5
Choice of Output

∂V
ẋ = f (x) + G(x)u, f (x) ≤ 0, ∀x
∂x
No output is defined. Choose the output as
 T
def ∂V
y = h(x) = G(x)
∂x

∂V ∂V
V̇ = f (x) + G(x)u ≤ y T u
∂x ∂x
Check zero-state observability

– p. 13/5
Example
ẋ1 = x2 , ẋ2 = −x31 + u

V (x) = 14 x41 + 12 x22

With u = 0 V̇ = x31 x2 − x2 x31 = 0


∂V ∂V
Take y = G= = x2
∂x ∂x2
Is it zero-state observable?

with u = 0, y(t) ≡ 0 ⇒ x(t) ≡ 0

u = −kx2 or u = −(2k/π) tan−1 (x2 ) (k > 0)

– p. 14/5
Feedback Passivation

Definition: The system

ẋ = f (x) + G(x)u, y = h(x)

is equivalent to a passive system if there is

u = α(x) + β(x)v

such that

ẋ = f (x) + G(x)α(x) + G(x)β(x)v, y = h(x)

is passive

– p. 15/5
Theorem [31]: The system

ẋ = f (x) + G(x)u, y = h(x)

is locally equivalent to a passive system (with a positive


definite storage function) if it has relative degree one at
x = 0 and the zero dynamics have a stable equilibrium
point at the origin with a positive definite Lyapunov function

Example: m-link Robot Manipulator

M (q)q̈ + C(q, q̇)q̇ + D q̇ + g(q) = u

M = M T > 0, (Ṁ − 2C)T = −(Ṁ − 2C), D = D T ≥ 0

– p. 16/5
Stabilize the system at q = qr

e = q − qr , ė = q̇

M (q)ë + C(q, q̇)ė + D ė + g(q) = u


(e = 0, ė = 0) is not an open-loop equilibrium point
u = g(q) − φp (e) + v, [φp (0) = 0, eT φp (e) > 0 ∀e 6= 0]
M (q)ë + C(q, q̇)ė + D ė + φp (e) = v
Z e
V = 12 ėT M (q)ė + φTp (σ) dσ
0

V̇ = 21 ėT (Ṁ −2C)ė−ėT D ė−ėT φp (e)+ėT v+φTp (e)ė ≤ ėT v


y = ė

– p. 17/5
Is it zero-state observable? Set v = 0

ė(t) ≡ 0 ⇒ ë(t) ≡ 0 ⇒ φp (e(t)) ≡ 0 ⇒ e(t) ≡ 0

v = −φd (ė), [φd (0) = 0, ėT φd (ė) > 0 ∀ė 6= 0]


u = g(q) − φp (e) − φd (ė)
Special case:

u = g(q) − Kp e − Kd ė, Kp = KpT > 0, Kd = KdT > 0

– p. 18/5
How does passivity-based control compare with feedback
linearization?

Example 13.20

ẋ1 = x2 , ẋ2 = −h(x1 ) + u

h(0) = 0, x1 h(x1 ) > 0, ∀ x1 6= 0


Feedback linearization:

u = h(x1 ) − (k1 x1 + k2 x2 )
" #
0 1
ẋ = x
−k1 −k2

– p. 19/5
Passivity-based control:
Z x1
V = h(z) dz + 12 x22
0

V̇ = x2 h(x1 ) − x2 h(x1 ) + x2 u = x2 u
Take y = x2
With u = 0, y(t) ≡ 0 ⇒ h(x1 (t)) ≡ 0 ⇒ x1 (t) ≡ 0
u = −σ(x2 ), [σ(0) = 0, yσ(y) > 0 ∀ y 6= 0]
ẋ1 = x2 , ẋ2 = −h(x1 ) − σ(x2 )

– p. 20/5
Linearization:
" #
0 1
, k = σ ′ (0)
−h′ (0) −k

s2 + ks + h′ (0) = 0
Sketch the root locus as k varies from zero to infinity

One of the p
two roots cannot be moved to the left of
Re[s] = − h′ (0)

– p. 21/5
Cascade Connection:

ż = fa (z) + F (z, y)y, ẋ = f (x) + G(x)u, y = h(x)

fa (0) = 0, f (0) = 0, h(0) = 0


∂V ∂V
f (x) + G(x)u ≤ y T u
∂x ∂x
∂W
fa (z) ≤ 0
∂z
U (z, x) = W (z) + V (x)
"  T #
∂W T T ∂W
U̇ ≤ F (z, y)y + y u = y u + F (z, y)
∂z ∂z

– p. 22/5
 T
∂W
u=− F (z, y) + v ⇒ U̇ ≤ y T v
∂z

The system

ż = fa (z) + F (z, y)y


 T
∂W
ẋ = f (x) − G(x) F (z, y) + G(x)v
∂z
y = h(x)

with input v and output y is passive with U as the storage


function

Read Examples 14.17 and 14.18

– p. 23/5
Sliding Mode Control

Example

ẋ1 = x2 ẋ2 = h(x) + g(x)u, g(x) ≥ g0 > 0

Sliding Manifold (Surface):

s = a1 x1 + x2 = 0

s(t) ≡ 0 ⇒ ẋ1 = −a1 x1


a1 > 0 ⇒ lim x1 (t) = 0
t→∞

How can we bring the trajectory to the manifold s = 0?

How can we maintain it there?

– p. 24/5
ṡ = a1 ẋ1 + ẋ2 = a1 x2 + h(x) + g(x)u

Suppose

a1 x2 + h(x)
≤ ̺(x)
g(x)

V = 12 s2

V̇ = sṡ = s[a1 x2 +h(x)]+g(x)su ≤ g(x)|s|̺(x)+g(x)su


β(x) ≥ ̺(x) + β0 , β0 > 0
s > 0, u = −β(x)

V̇ ≤ g(x)|s|̺(x) − g(x)β(x)|s|

V̇ ≤ g(x)|s|̺(x) − g(x)(̺(x) + β0 )|s| = −g(x)β0 |s|

– p. 25/5
s < 0, u = β(x)

V̇ ≤ g(x)|s|̺(x) + g(x)su = g(x)|s|̺(x) − g(x)β(x)|s|

V̇ ≤ g(x)|s|̺(x) − g(x)(̺(x) + β0 )|s| = −g(x)β0 |s|


(
1, s>0
sgn(s) =
−1, s<0

u = −β(x) sgn(s)

V̇ ≤ −g(x)β0 |s| ≤ −g0 β0 |s|



V̇ ≤ −g0 β0 2V

– p. 26/5

V̇ ≤ −g0 β0 2V

dV √
√ ≤ −g0 β0 2 dt
V

√ V (s(t)) √
2 V ≤ −g0 β0 2 t
V (s(0))
p p 1
V (s(t)) ≤ V (s(0)) − g0 β0 √ t
2
|s(t)| ≤ |s(0)| − g0 β0 t
s(t) reaches zero in finite time
Once on the surface s = 0, the trajectory cannot leave it

– p. 27/5
s=0

What is the region of validity?

– p. 28/5
ẋ1 = x2 ẋ2 = h(x) − g(x)β(x)sgn(s)

ẋ1 = −a1 x1 + s ṡ = a1 x2 + h(x) − g(x)β(x)sgn(s)


sṡ ≤ −g0 β0 |s|, if β(x) ≥ ̺(x) + β0
V1 = 21 x21

V̇1 = x1 ẋ1 = −a1 x21 + x1 s ≤ −a1 x21 + |x1 |c ≤ 0


c
∀ |s| ≤ c and |x1 | ≥
a1
 
c
Ω= |x1 | ≤ , |s| ≤ c
a1

a1 x2 + h(x)
Ω is positively invariant if ≤ ̺(x) over Ω
g(x)
– p. 29/5
 
c
Ω= |x1 | ≤ , |s| ≤ c
a1
x2 6
s=0 H
HHH HH
HH HHc
HH HH
HH c/a1 -
HH
HH HH x1
HH HH
HH HH
HH HH
H H

a1 x2 + h(x)
≤ k1 < k, ∀ x ∈ Ω
g(x)

u = −k sgn(s)

– p. 30/5
Chattering
B Sliding manifold
B
B
B
B
 B
H
HH B
s < 0 BH Y s>0
B
B
 B
H
HH B a
B HH
B YH
H

How can we reduce or eliminate chattering?

– p. 31/5
Reduce the amplitude of the signum function

ṡ = a1 x2 + h(x) + g(x)u

[a1 x2 + ĥ(x)]
u=− +v
ĝ(x)
ṡ = δ(x) + g(x)v
 
g(x) g(x)
δ(x) = a1 1 − x2 + h(x) − ĥ(x)
ĝ(x) ĝ(x)

δ(x)
≤ ̺(x), β(x) ≥ ̺(x) + β0
g(x)

v = −β(x) sgn(s)

– p. 32/5
Replace the signum function by a high-slope saturation
function  
s
u = −β(x) sat
ε
(
y, if |y| ≤ 1
sat(y) =
sgn(y), if |y| > 1
y
sgn(y) 6 sat ε 6
1 1

-  -
y  ε y

−1  −1

– p. 33/5
How can we analyze the system?

For |s| ≥ ε, u = −β(x) sgn(s)

With c ≥ ε
n o
c
Ω = |x1 | ≤ a1
, |s| ≤ c is positively invariant

The trajectory reaches the boundary layer {|s| ≤ ε}in


finite time

The boundary layer is positively invariant

– p. 34/5
Inside the boundary layer:
s
ẋ1 = −a1 x1 + s ṡ = a1 x2 + h(x) − g(x)β(x)
ε

x1 ẋ1 ≤ −a1 x21 + |x1 |ε


0<θ<1
ε
x1 ẋ1 ≤ −(1 − θ)a1 x21 , ∀ |x1 | ≥
θa1
The trajectories reach the positively invariant set
ε
Ωε = {|x1 | ≤ , |s| ≤ ε}
θa1

in finite time
– p. 35/5
What happens inside Ωε ?

Find the equilibrium points


s
0 = −a1 x1 + s = x2 , 0 = a1 x2 + h(x) − g(x)β(x)
ε

h(x)
φ(x1 ) =
a1 g(x)β(x) x2 =0
x1 = εφ(x1 )
Suppose x1 = εφ(x1 ) has an isolated solution x̄1 = εk1

h(0) = 0 ⇒ x̄1 = 0

– p. 36/5
z1 = x1 − x̄1 , z2 = s − a1 x̄1

x2 = −a1 x1 + s = −a1 (x1 − x̄1 ) + s − a1 x̄1 = −a1 z1 + z2


ż1 = ẋ1 = x2 = −a1 z1 + z2

s
ż2 = a1 x2 + h(x) − g(x)β(x)
ε
z2 + a1 x̄1
= a1 (z2 − a1 z1 ) + h(x) − g(x)β(x)
ε
z2
ż2 = ℓ(z) − g(x)β(x)
ε
 
h(x) x̄1
ℓ(z) = a1 (z2 − a1 z1 ) + a1 g(x)β(x) −
a1 g(x)β(x) ε

– p. 37/5
z2
ż1 = −a1 z1 + z2 , ż2 = ℓ(z) − g(x)β(x)
ε
ℓ(0) = 0, |ℓ(z)| ≤ ℓ1 |z1 | + ℓ2 |z2 |
g(x)β(x) ≥ g0 β0
V = 12 z12 + 12 z22
 
z2
V̇ = z1 (−a1 z1 + z2 ) + z2 ℓ(z) − g(x)β(x)
ε
g0 β0
V̇ ≤ −a1 z12 + (1 + ℓ1 )|z1 | |z2 | + ℓ2 z22 − z22
ε

– p. 38/5
g0 β0
V̇ ≤ −a1 z12 + (1 + ℓ1 )|z1 | |z2 | + ℓ2 z22
− z22
" #T " # ε
" #
1
|z1 | a1 − 2 (1 + ℓ1
) |z1 |
V̇ ≤ − 
g0 β0
|z2 | − 12 (1 + ℓ1 ) ε − ℓ2 |z2 |
| {z }
Q
 
g0 β0
det(Q) = a1 − ℓ2 − 14 (1 + ℓ1 )2 > 0 for small ε
ε
h(0) = 0 ⇒ lim x(t) = 0
" t→∞
#
x̄1
h(0) =
6 0 ⇒ lim x(t) =
t→∞ 0

Read Section 14.1.1

– p. 39/5
Regular Form:

η̇ = fa (η, ξ)
ξ̇ = fb (η, ξ) + g(η, ξ)u + δ(t, η, ξ, u)

η ∈ Rn−1 , ξ ∈ R, u ∈ R
fa (0, 0) = 0, fb (0, 0) = 0, g(η, ξ) ≥ g0 > 0
Sliding Manifold:
s = ξ − φ(η) = 0, φ(0) = 0

s(t) ≡ 0 ⇒ η̇ = fa (η, φ(η))


Design φ s.t. the origin of η̇ = fa (η, φ(η)) is asymp. stable

– p. 40/5
∂φ
ṡ = fb (η, ξ) − fa (η, ξ) + g(η, ξ)u + δ(t, η, ξ, u)
∂η
(  
∂φ ˆ
− ĝ1 fˆb − ∂η fa , or
u = ψ(η, ξ) + v, where ψ =
0
ṡ = g(η, ξ)v + ∆(t, η, ξ, v)
∂φ
∆ = fb − fa + δ + gψ
∂η

∆(t, η, ξ, v)
g(η, ξ) ≤ ̺(η, ξ) + κ0 |v|

– p. 41/5

∆(t, η, ξ, v)
g(η, ξ) ≤ ̺(η, ξ) + κ0 |v|

̺(η, ξ) ≥ 0, 0 ≤ κ0 < 1 (̺ and κ0 are Known)


sṡ = sgv + s∆ ≤ sgv + |s| |∆|
sṡ ≤ g[sv + |s|(̺ + κ0 |v|)]
v = −β(η, ξ) sgn(s)
̺(η, ξ)
β(η, ξ) ≥ + β0 , β0 > 0
1 − κ0
sṡ ≤ g[−β|s| + ̺|s| + κ0 β|s|] = g[−β(1 − κ0 )|s| + ̺|s| ]
sṡ ≤ g[−̺|s| − (1 − κ0 )β0 |s| + ̺|s| ]

– p. 42/5
sṡ ≤ −g(η, ξ)(1 − κ0 )β0 |s| ≤ −g0 β0 (1 − κ0 )|s|
 
s
v = −β(x) sat , ε>0
ε
sṡ ≤ −g0 β0 (1 − κ0 )|s|, for |s| ≥ ε
The trajectory reaches the boundary layer {|s| ≤ ε} in finite
time and remains inside thereafter

Study the behavior of η

η̇ = fa (η, φ(η) + s)

What do we know about this system and what do we need?

– p. 43/5
α1 (kηk) ≤ V (η) ≤ α2 (kηk)

∂V
fa (η, φ(η) + s) ≤ −α3 (kηk), ∀ kηk ≥ γ(|s|)
∂η
|s| ≤ c ⇒ V̇ ≤ −α3 (kηk), for kηk ≥ γ(c)
α(r) = α2 (γ(r))

V (η) ≥ α(c) ⇔ V (η) ≥ α2 (γ(c)) ⇒ α2 (kηk) ≥ α2 (γ(c))


⇒ kηk ≥ γ(c) ⇒ V̇ ≤ −α3 (kηk) ≤ −α3 (γ(c))

The set {V (η) ≤ c0 } with c0 ≥ α(c) is positively invariant

Ω = {V (η) ≤ c0 } × {|s| ≤ c}, with c0 ≥ α(c)

– p. 44/5
V
c α(.)
0

α(c)

α(ε)
ε c |s|

Ω = {V (η) ≤ c0 } × {|s| ≤ c}, with c0 ≥ α(c)

is positively invariant and all trajectories starting in Ω reach


Ωε = {V (η) ≤ α(ε)} × {|s| ≤ ε} in finite time

– p. 45/5
Theorem 14.1: Suppose all the assumptions hold over Ω.
Then, for all (η(0), ξ(0)) ∈ Ω, the trajectory (η(t), ξ(t)) is
bounded for all t ≥ 0 and reaches the positively invariant
set Ωε in finite time. If the assumptions hold globally and
V (η) is radially unbounded, the foregoing conclusion holds
for any initial state
Theorem 14.2: Suppose all the assumptions hold over Ω
̺(0) = 0
The origin of η̇ = fa (η, φ(η)) is exponentially stale
Then there exits ε∗ > 0 such that for all 0 < ε < ε∗ , the
origin of the closed-loop system is exponentially stable and
Ω is a subset of its region of attraction. If the assumptions
hold globally, the origin will be globally uniformly
asymptotically stable

– p. 46/5
Example

ẋ1 = x2 + θ1 x1 sin x2 , ẋ2 = θ2 x22 + x1 + u

|θ1 | ≤ a, |θ2 | ≤ b
x2 = −kx1 ⇒ ẋ1 = −kx1 + θ1 x1 sin x2
V1 = 12 x21 ⇒ x1 ẋ1 ≤ −kx21 + ax21
s = x2 + kx1 , k>a
ṡ = θ2 x22 + x1 + u + k(x2 + θ1 x1 sin x2 )
u = −x1 − kx2 + v ⇒ ṡ = v + ∆(x)
∆(x) = θ2 x22 + kθ1 x1 sin x2

– p. 47/5
∆(x) = θ2 x22 + kθ1 x1 sin x2

|∆(x)| ≤ ak|x1 | + bx22

β(x) = ak|x1 | + bx22 + β0 , β0 > 0


u = −x1 − kx2 − β(x) sgn(s)
Will  
s
u = −x1 − kx2 − β(x) sat
ε
stabilize the origin?

– p. 48/5
Example: Normal Form

η̇ = f0 (η, ξ)
ξ̇i = ξi+1 , 1≤i≤ρ−1
ρ ρ−1
ξ̇ρ = Lf h(x) + Lg Lf h(x) u
y = ξ1

View ξρ as input to the system

η̇ = f0 (η, ξ1 , · · · , ξρ−1 , ξρ )
ξ̇i = ξi+1 , 1≤i≤ρ−2
ξ̇ρ−1 = ξρ

Design ξρ = φ(η, ξ1 , · · · , ξρ−1 ) to stabilize the origin

– p. 49/5
s = ξρ − φ(η, ξ1 , · · · , ξρ−1 )

Minimum Phase Systems: The origin of η̇ = f0 (η, 0) is


asymptotically stable

s = ξρ + k1 ξ1 + · · · + kρ−1 ξρ−1

η̇ = f0 (η, ξ1 , · · · , ξρ−1 , −k1 ξ1 − · · · − kρ−1 ξρ−1 )


    
ξ̇1 1 ξ1
 .   .  . 
 ..   ..   .. 
 =  
    
   1  
ξ̇ρ−1 −k1 −kρ−1 ξρ−1

– p. 50/5
Multi-Input Systems

η̇ = fa (η, ξ)
ξ̇ = fb (η, ξ) + G(η, ξ)u + δ(t, η, ξ, u)

η ∈ Rn−p , ξ ∈ Rp , u ∈ Rp
fa (0, 0) = 0, fb (0, 0) = 0, det(G) 6= 0,
Design φ s.t. the origin of η̇ = fa (η, φ(η)) is asymp. stable

s = ξ − φ(η)

∂φ
ṡ = fb (η, ξ) − fa (η, ξ) + G(η, ξ)u + δ(t, η, ξ, u)
∂η

– p. 51/5
∂φ
ṡ = fb (η, ξ) − fa (η, ξ) + G(η, ξ)u + δ(t, η, ξ, u)
∂η

u = ψ(η, ξ) + v
where (  
∂φ ˆ
− Ĝ−1 fˆb − ∂η fa , or
ψ=
0
ṡ = G(η, ξ)v + ∆(t, η, ξ, v)

– p. 52/5
Case 1:

G = diag[g1 , g2 , · · · , gp ], gi (η, ξ) ≥ g0 > 0

ṡi = gi (η, ξ)vi + ∆i (t, η, ξ, v), 1≤i≤p

p
∆i (t, η, ξ, v) X
≤ ̺(η, ξ) + κij |vj |
g (η, ξ)
i j=1

p
X
̺(η, ξ) ≥ 0, κij ≤ κ0 < 1 (̺ and κ0 are Known)
j=1

̺(x)
β(x) ≥ + β0 , β0 > 0
1 − κ0

– p. 53/5
si ṡi = si gi vi + si ∆i ≤ gi {si vi + |si |[̺ + κ0 max |vi |]}
1≤i≤p

vi = −β sgn(si ), 1≤i≤p

si ṡi ≤ gi [−β + ̺ + κ0 β]|si |


= gi [−(1 − κ0 )β + ̺]|si |
≤ gi [−̺ − (1 − κ0 )β0 + ̺]|si |
≤ −g0 β0 (1 − κ0 )|si |

Now use  
si
vi = −β sat , 1≤i≤p
ε
Read Theorem 14.1 and 14.2 in the textbook

– p. 54/5
Case 2: G(η, ξ) is a positive definite matrix, uniformly in
(η, ξ)
sT G(η, ξ)s ≥ λm sT s, λm > 0
ṡ = G(η, ξ)v + ∆(t, η, ξ, v)

k∆(t, η, ξ, v)k ≤ ̺(η, ξ) + κ0 kvk


̺(η, ξ) ≥ 0, 0 ≤ κ0 < λm (̺ and κ0 are Known)
̺(x)
β(x) ≥ + β0 , β0 > 0
λm − κ0

W = 12 sT s

– p. 55/5
Ẇ = sT ṡ = sT Gv+sT ∆ ≤ sT Gv+̺(η, ξ)ksk+κ0 ksk kvk
s
v = −β(η, ξ)
ksk
sT Gs
Ẇ ≤ −β + ̺ksk + κ0 βksk
ksk
≤ −β(λm − κ0 )ksk + ̺ksk
≤ −̺ksk − (λm − κ0 )β0 ksk + ̺ksk
≤ −(λm − κ0 )β0 ksk
(
  y
s kyk
if kyk ≥ 1
Use v = −β ϕ , ϕ(y) =
ε y if kyk ≤ 1

– p. 56/5

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