Discrete-time time-varying robust stabilization for systems in power form

Authors:	Laila Dina Shona, Imperial College London, United Kingdom Astolfi Alessandro, Imperial College London, United Kingdom
Topic:	2.1 Control Design
Session:	Sampled-data Control
Keywords:	Discrete-time systems; Input-to-state stability; Lyapunov function; Nonholonomic systems; Power form; Time-varying systems

Abstract

A robust stabilization problem by means of continuous time-varying feedback for systems in power form is addressed. A Lyapunov based direct discrete-time design achieving input-to-state stability in a semiglobal practical sense for a discrete-time model of the system is presented. A strict Lyapunov function and a control law that stabilizes general systems in power form are constructed. Two examples are presented to test the performance of the proposed controller design, in comparison with a controller obtained by emulation of a class of homogeneous controllers that are based on a similar construction.