Hanafi, Ainain Nur (Universiti Teknikal Malaysia Melaka), De Dona, Jose (The University of Newcastle), Seron, Maria M. (The University of Newcastle), Cranney, Jesse (The University of Newcastle)

Invariant Sets Via LPV-embedding for Lure Nonlinear Systems with Unmatched Nonlinearities

Scheduled for presentation during the Regular Session "Nonlinear Systems and Control" (MoBOr), Monday, December 18, 2017, 11:15−11:30, Room 7

2017 Australian and New Zealand Control Conference, December 17-20, 2017, Gold Coast Convention Centre, Australia

This information is tentative and subject to change. Compiled on April 26, 2024

Abstract

We derive sufficient conditions for the existence of invariant sets for Lure nonlinear systems where the nonlinearity is not matched with the control input. The sector bounded nonlinearity is represented as a time-varying parameterised linear function with bounded parameter variations, and the invariant sets are computed by embedding the nonlinear system into a convex polytopic LPV system. We show that the 'matching' condition for the nonlinearity can be relaxed for the case when the matrices associated with the nonlinearity satisfy a special relation. An example of a flexible manipulator is provided to illustrate the results.