Dissipative systems: from physics to robust nonlinear control

Dissipative Systems: From Physics to Robust Nonlinear Control

In this paper we explore connections between the underlying physics of dissipative systems and nonlinear robust control. In particular, we concentrate on the problem of stabilizing stationary solutions of nonlinear dissipative systems with states distributed in space. Dissipative systems are equipped with an entropy function which we employ to relate dissipation with the Hamilton-Jacobi-Bellman...

Robust Dissipative Control for Uncertain Nonlinear Dynamical Systems

The problem of robust dissipative control for uncertain nonlinear systems is investigated in this paper. The uncertainty is described in the form of bounded norm. Both state feedback control and output feedback control are designed to achieve quadratic dissipativeness for the systems. The robust dissipative control problem can be resolved for all admissible uncertainties, if there exist nonnega...

Robust Control of Nonlinear Flexible Multibody Systems Using Quaternion Feedback and Dissipative Compensation

Robust Model Predictive Control for a Class of Discrete Nonlinear systems

This paper presents a robust model predictive control scheme for a class of discrete-time nonlinear systems subject to state and input constraints. Each subsystem is composed of a nominal LTI part and an additive uncertain non-linear time-varying function which satisfies a quadratic constraint. Using the dual-mode MPC stability theory, a sufficient condition is constructed for synthesizing the ...

A Linear Matrix Inequality (LMI) Approach to Robust Model Predictive Control (RMPC) Design in Nonlinear Uncertain Systems Subjected to Control Input Constraint

In this paper, a robust model predictive control (MPC) algorithm is addressed for nonlinear uncertain systems in presence of the control input constraint. For achieving this goal, firstly, the additive and polytopic uncertainties are formulated in the nonlinear uncertain systems. Then, the control policy can be demonstrated as a state feedback control law in order to minimize a given cost funct...