Observer-based robust control of one-sided Lipschitz nonlinear systems.
This paper presents an observer-based controller design for the class of nonlinear systems with time-varying parametric uncertainties and norm-bounded disturbances. The design methodology, for the less conservative one-sided Lipschitz nonlinear systems, involves astute utilization of Young's inequality and several matrix decompositions. A sufficient condition for simultaneous extraction of observer and controller gains is stipulated by a numerically tractable set of convex optimization conditions. The constraints are handled by a nonlinear iterative cone-complementary linearization method in obtaining gain matrices. Further, an observer-based control technique for one-sided Lipschitz nonlinear systems, robust against L2-norm-bounded perturbations, is contrived. The proposed methodology ensures robustness against parametric uncertainties and external perturbations. Simulation examples demonstrating the effectiveness of the proposed methodologies are presented.
Department of Electrical Engineering, Pakistan Institute of Engineering and Applied Sciences (PIEAS), Islamabad, Pakistan. Electronic address: sohaahmad64@gmail.com.
Sohaira
S
Ahmad
Department of Electrical Engineering, Pakistan Institute of Engineering and Applied Sciences (PIEAS), Islamabad, Pakistan. Electronic address: rehanqau@gmail.com.
Muhammad
M
Rehan
Department of Cogno-Mechatronics Engineering and School of Mechanical Engineering, Pusan National University, 2 Busandaehak-ro, Geumjeong-gu, Busan 609-735, Republic of Korea. Electronic address: kshong@pusan.ac.kr.
Keum-Shik
KS
Hong
L(2) gain; Observer-based control; One-sided Lipschitz nonlinearity; Parametric uncertainty; Quadratic inner-boundedness