Abstract
Forwarding is a powerful tool for constructing stabilizers for nonlinear systems which is applicable to various practically interesting examples. A key step in the design technique involves the solution of a partial differential equation (PDE), which may be hard to find -actually, the PDE may even not be solvable at all. In this brief note we show that it is possible to provide an additional degree of freedom for the solution of the aforementioned PDE, hence effectively extending the realm of application of the forwarding methodology. Our contribution is illustrated with the example of an inverted pendulum with a disk inertia.
The work of Ms. Kaliora is supported by the State Scholarships Foundation of Greece and by the TMR Network, NACO 2
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Praly, L., Ortega, R., Kaliora, G. (2001). Stabilization of nonlinear systems via forwarding mod{L g V}. In: Isidori, A., Lamnabhi-Lagarrigue, F., Respondek, W. (eds) Nonlinear control in the year 2000 volume 2. Lecture Notes in Control and Information Sciences, vol 259. Springer, London. https://doi.org/10.1007/BFb0110308
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DOI: https://doi.org/10.1007/BFb0110308
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