Zentrum F Ur Technomathematik Fachbereich 3 { Mathematik Und Informatik a Globalization Procedure for Locally Stabilizing Controllers Berichte Aus Der Technomathematik Report 00{09 a Globalization Procedure for Locally Stabilizing Controllers

نویسندگان

  • Jochen Behrens
  • Fabian Wirth
چکیده

For a nonlinear system with a singular point that is locally asymptotically nullcontrollable we present a class of feedbacks that globally asymptotically stabilizes the system on the domain of asymptotic nullcontrollability. The design procedure is twofold. In a neighborhood of the singular point we use lin-earization arguments to construct a sampled (or discrete) feedback that yields a feedback invariant neighborhood of the singular point and locally exponentially stabilizes without the need for vanishing sampling rate as the trajectory approaches the equilibrium. On the remainder of the domain of controllability we construct a piecewise constant patchy feedback that guarantees that all Carath eodory solutions of the closed loop system reach the previously constructed neighborhood.

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تاریخ انتشار 2000