Locally Constrained Optimal and Globally Stable Backstepping Design

Authors:	Adhami-Mirhosseini Aras, University of Tehran, Iran (Islamic Republic of) Yazdanpanah Mohammad Javad, University of Tehran, Iran (Islamic Republic of)
Topic:	2.3 Non-Linear Control Systems
Session:	Nonlinear Controller Design
Keywords:	Nonlinear control systems, H-infinity control, constrained poles, disturbance attenuation, global stability.

Abstract

Robust nonlinear controller design with constraint on the poles' location of the linear part of closed-loop system is proposed. The design method is based on the integrator backstepping procedure and linear constrained H-infinity for nonlinear strict-feedback systems with disturbance also in strict-feedback form. The resulted closed-loop system will be globally stable, while both local robustness and desired α-stability are achieved. An analytic example is used to compare the performance of the proposed methodology with that of the locally optimal backstepping design with no closed-loop poles constraint.