Control of Deterministically Uncertain Systems

Abstract

We consider nonlinear uncertain control systems described by ordinary differential inclusions. Tracking or linearization, either in exact or asymptotic sense, is obtained through a differential inequality approach, by using variable structure control methods. Chattering is eliminated by suitable immersion of the original system, leading to ordinary or partial differential inequalities of the Hamilton-Jacobi type for the (state feedback) continuous control law. No assumption (like matching) is required on the uncertainty acting on the dynamic structure of the systems.

Supported in part by MPI (fondi 40%, “Teoria del controllo dei sistemi dinamici).