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Nonlinear control in the Year 2000 pp 93–102Cite as

Stability analysis to parametric uncertainty: Extension to the multivariable case

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Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 258))

Abstract

This paper is concerned with stability robustness of nonlinear multivariable systems under input-output feedback linearization. A procedure is presented that allows plant uncertainty to be propagated through the control design, yielding an uncertainty description of the closed-loop in polytopic form. As feedback linearization aims for a linear closed-loop system, plant uncertainty in the nonlinear (open-loop) system causes the parameters of the resulting linear system to be uncertain. Due to the nonlinearity of the process under control, these closed-loop uncertainties will turn out to be nonlinear and state dependent. It is outlined, how, with a numerical procedure, these uncertainties can be bounded within intervals, thus allowing the construction of a polytopic uncertainty description. Stability robustness can then be verified with the aid of linear matrix inequalities (LMIs).

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Author information

Authors and Affiliations

  1. Instituto Superior Técnico Department of Mechanical Engineering, GCAR, Technical University of Lisbon, Avenida Rovisco Pais, 1049-001, Lisboa, Portugal

    Miguel Ayala Botto & José Sá da Costa

  2. Faculty of Information Technology and Systems, Control Laboratory, Delft University of Technology, P.O. Box 5031, 2600 GA, Delft, The Netherlands

    Ton van den Boom

Authors
  1. Miguel Ayala Botto
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  2. Ton van den Boom
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  3. José Sá da Costa
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Editor information

Alberto Isidori (Professor)Françoise Lamnabhi-Lagarrigue (Docteur D’état)Witold Respondek (Professor)

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© 2001 Springer-Verlag London Limited

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Botto, M.A., van den Boom, T., Costa, J.S.d. (2001). Stability analysis to parametric uncertainty: Extension to the multivariable case. In: Isidori, A., Lamnabhi-Lagarrigue, F., Respondek, W. (eds) Nonlinear control in the Year 2000. Lecture Notes in Control and Information Sciences, vol 258. Springer, London. https://doi.org/10.1007/BFb0110210

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  • DOI: https://doi.org/10.1007/BFb0110210

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  • Publisher Name: Springer, London

  • Print ISBN: 978-1-85233-363-8

  • Online ISBN: 978-1-84628-568-4

  • eBook Packages: Springer Book Archive

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