Continuous Piecewise Linear Control for Nonlinear Systems: The Parallel Model Technique
نویسنده
چکیده
This paper describes a systematic technique for obtaining controllers for Nonlinear Systems using a Continuous Piecewise Linear Approximation (CPWL) of the given Nonlinear vector field. The method proposes the use of a CPWL approximation of the Nonlinear System and then a theory is developed to show that the stabilization of the CPWL aproximation ODE yields stability for the Nonlinear ODE. An example is presented in order to show the capabilities of this idea but also the practical applicability. Finally some conclusions and future work are depicted. Key–Words: Nonlinear ODE’s, Continuous Piecewise Linear ODE’s, Control Systems.
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