Control of a Pendulum-like System with Multiple Nonlinearities ⋆

نویسندگان

  • Hua Ouyang
  • Ian R. Petersen
  • Valery Ugrinovskii
چکیده

Abstract: This paper addresses a stability analysis problem and synthesis problem for pendulum-like systems with multiple nonlinearities. A method for analysing the Lagrange stability of a pendulum-like system with multiple nonlinearities is proposed. In order to study the synthesis problem, the paper develops an Extended Strict Bounded Real Lemma for unstable systems. A sufficient condition for Lagrange stabilization is proposed in terms of an algebraic Riccati equation with a sign infinite solution. An algorithm is given to solve the algebraic Riccati equation for a Lagrange stabilizing solution and thus gives a control law to stabilize the system in the sense of Lagrange stability.

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تاریخ انتشار 2008