Abstract
This paper discusses the applicability of a switching control scheme for a nonlinear system with ill-defined relative degree. The control scheme switches between exact and approximate input-output linearisation control laws. Unlike a linear system under a switching control scheme, the equilibria of a nonlinear system may change with the switching. It is pointed out that this is not sufficient to cause instability. When the region of the approximate linearisation control law is attractive to the exact zero dynamics, it is possible that the closed-loop system under the switching control scheme is still stable. The results in this paper shows that the switching control scheme proposed in Tomlin and Sastry (Systems Control Lett. 35(3) (1998) 145) is applicable for a wider class of nonlinear systems.
| Original language | English |
|---|---|
| Pages (from-to) | 159-166 |
| Number of pages | 8 |
| Journal | Systems and Control Letters |
| Volume | 47 |
| Issue number | 2 |
| DOIs | |
| Publication status | Published - 7 Oct 2002 |
Keywords
- Hybrid systems
- Nonlinear control
- Stability
- Switching
- Zero dynamics
ASJC Scopus subject areas
- Control and Systems Engineering
- General Computer Science
- Mechanical Engineering
- Electrical and Electronic Engineering