Control Contraction Metrics, Robust Control and Observer Duality
نویسندگان
چکیده
— This paper studies the use of control contraction metrics in the solution of several problems in nonlinear control. We discuss integrability conditions of controls and give concrete results for mechanical systems. We also study the relationship between existence of a metric and differential L 2 gain, a form of differential dissipativity, and the use of convex optimization for robust stabilization of nonlinear systems. Finally, we discuss a " duality " result between nonlinear stabilization problems and observer construction, in the process giving a novel construction of a nonlinear observer.
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