Nonlinear sampled-data controller redesign via Lyapunov functions

L. Grüne, D. Nesic: Nonlinear sampled-data controller redesign via Lyapunov functions
in: Proceedings of the 16th IFAC World Congress, DVD-ROM, Paper No. Fr-A17-TO/5, Prague, Czech Republic, 2005,

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Abstract:

We provide results for redesign of Lyapunov function based continuous time controllers for sampled-data implementation, using a particular form of the redesigned controller and the Taylor expansion of the sampled-data Lyapunov difference. We develop two types of redesigned controllers that (i) make the lower order terms (in T) in the series expansion of the Lyapunov difference with the redesigned controller more negative and (ii) make the terms in the Taylor expansions of the Lyapunov difference for the sampled-data system with the redesigned controller behave as close as possible to the respective values of the continuous-time system with the original controller. Simulation studies illustrate the performance of our controllers.

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