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Robust control with pole assignment in a specified region for systems under parameter perturbations; application to a nonlinear system
Author(s) -
Obayashi Masanao,
Hirasawa Kotaro,
Murata Jun'Ichi,
Kajiwara Akio,
Sagara Setsuo
Publication year - 1996
Publication title -
electrical engineering in japan
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.136
H-Index - 28
eISSN - 1520-6416
pISSN - 0424-7760
DOI - 10.1002/eej.4391160610
Subject(s) - control theory (sociology) , nonlinear system , lagrange multiplier , linear system , robust control , robustness (evolution) , stability (learning theory) , nonlinear control , computer science , mathematics , control engineering , mathematical optimization , control (management) , engineering , mathematical analysis , biochemistry , chemistry , physics , quantum mechanics , artificial intelligence , machine learning , gene
This paper deals with the problem of determination of feedback gains in order to achieve required performances under linear time invariant perturbations. Based upon the Lagrange multiplier method, the proposed method determines feedback gains that ensure both robust stability and robust performance for a linear uncertain system. It is applied to a nonlinear crane system control design. The nonlinear system is first partitioned into some uncertain linear systems. Then the proposed method is applied to each uncertain linear system. Application is easily demonstrated and, consequently, a nonlinear crane control system can be easily designed. Finally, it is shown in a numerical example that the proposed method is effective.