In this paper, a new analytical method to find a near-optimal high gain controller for the non-minimum phase affine nonlinear systems is introduced. This controller is derived based on the closed form solution of the Hamilton-Jacobi-Bellman (HJB) equation associated with the cheap control problem. This methodology employs an algebraic equation with parametric coefficients for the systems with s...

This paper presents some analyses about the robust practical stability of a class of nonlinear affine systems in the presence of non-vanishing perturbations based on the passivity concept. The given analyses confirm the robust passivity property of the perturbed nonlinear systems in a certain region. Moreover, robust control laws are designed to guarantee the practical stability of the perturbe...

Takagi–Sugeno (T–S) fuzzy models play an important role in nonlinear control because they can be used to approximate nonlinear systems. Also, for the affine T–S fuzzy models, the local linear sub-system properties can be easily related to the physics of the controlled nonlinear system. This is one advantage of the affine T–S fuzzy models relative to the homogeneous T–S fuzzy models. In the lite...

We investigate necessary and sufficient conditions under which a nonlinear affine control system with outputs can be written as a gradient control system corresponding to some pseudo-Riemannian metric defined on the state space. The results rely on a suitable notion of compatibility of the system with respect to a given affine connection, and on the input-output behavior of the prolonged system...

Abstract. We investigate necessary and sufficient conditions under which a general nonlinear affine control system with outputs can be written as a gradient control system corresponding to some pseudoRiemannian metric defined on the state space. The results rely on a suitable notion of compatibility of the systemwith respect to a given affine connection, and on the output behavior of the prolon...

In this paper, an observer based fuzzy adaptive controller (FAC) is designed fora class of large scale systems with non-canonical non-affine nonlinear subsystems. It isassumed that functions of the subsystems and the interactions among subsystems areunknown. By constructing a new class of state observer for each follower, the proposedconsensus control method solves the problem of unmeasured sta...

We focus on the analysis and design of two different sliding mode observers for dynamic Takagi-Sugeno (TS) fuzzy systems. A nonlinear system of this class is composed of multiple affine local linear models that are smoothly interpolated by weighting functions resulting from a fuzzy partitioning of the state space of a given nonlinear system subject to observation. The Takagi-Sugeno fuzzy system...

A two-step controller synthesis method is proposed in this paper for a class of uncertain nonlinear systems described by piecewise affine differential inclusions. In the first step, a robust linear controller is designed for the linear differential inclusion that describes the dynamics of the nonlinear system close to the equilibrium point. In the second step, a stabilizing piecewise affine con...