Journal
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
Volume 20, Issue 14, Pages 1637-1654Publisher
WILEY
DOI: 10.1002/rnc.1541
Keywords
nonlinear systems; output feedback; H-infinity control; sum of squares; semidefinite programming
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A computational scheme of solving the nonlinear static output feedback design problems for a class of polynomial nonlinear systems is investigated in this paper. Sufficient conditions to achieve the closed-loop stability with or without H-infinity performance are presented as state-dependent matrix inequalities, which provides an effective way for the application of the new sum of squares programming technique to obtain computationally tractable solutions. By introducing additional matrix variables, we succeed in eliminating the coupling between system matrices and the Lyapunov matrix. The proposed methodology is also extended to the synthesis for the parameter-dependent polynomial systems. Robust polynomial output feedback controller is designed in an efficient computational manner. Finally, numerical examples are provided to demonstrate the effectiveness of the proposed methodology. Copyright (C) 2009 John Wiley & Sons, Ltd.
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