The State Dependent Control of Continuous Time Nonlinear Systems with Mixed Performance Criteria

X. Wang and E.E. Yaz (USA)


Robust Control, Nonlinear Control, and Linear Matrix Inequalities


This paper presents a new state-dependent Linear Matrix Inequality control design of continuous time nonlinear systems with mixed performance criteria. The purpose behind this new approach is to convert a nonlinear system control design into a convex optimization problem involving state dependent LMI solutions. By solving the state dependent LMI, the optimal control solutions can be found to satisfy mixed performance criteria guaranteeing quadratic optimality with inherent stability property in combination with H∞ or a passivity type of disturbance reduction. The effectiveness of the proposed technique is demonstrated by simulations involving the inverted pendulum control.

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