Adding integrations, saturated controls, and stabilization for feedforward systems
- 1 January 1996
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Transactions on Automatic Control
- Vol. 41 (11) , 1559-1578
- https://doi.org/10.1109/9.543995
Abstract
Our study relates to systems whose dynamics generalize x/spl dot/=h(y,u), y/spl dot/=f(y,u), where the state components x integrate functions of the other components y and the inputs u. We give sufficient conditions under which global asymptotic stabilizability of the y subsystem (respectively, by saturated control) implies global asymptotic stabilizability of the overall system (respectively, by saturated control). It is obtained by constructing explicitly a control Lyapunov function and provides feedback laws with several degrees of freedom which can be exploited to tackle design constraints. Also, we study how appropriate changes of coordinates allow us to extend its domain of application. Finally, we show how the proposed approach serves as a basic tool to be used, in a recursive design, to deal with more complex systems. In particular the stabilization problem of the so-called feedforward systems is solved this way.Keywords
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