Robust H∞ control for a class of switched nonlinear cascade systems via multiple Lyapunov functions approach

This paper addresses the problem of robust H_∞ control for a class of switched nonlinear cascade systems with parameter uncertainty using the multiple Lyapunov functions (MLFs) approach. Each subsystem under consideration is composed of two cascade-connected parts. The uncertain parameters are assumed to be in a known compact set and are allowed to enter the system nonlinearly. Based on the explicit construction of Lyapunov functions, which avoids solving the Hamilton-Jacobi equations, sufficient conditions for the solvability of the robust H_∞ control problem are presented. As an application, the hybrid robust H_∞ control problem for a class of uncertain non-switched nonlinear cascade systems is solved when no single continuous controller is effective. Finally, a numerical example is provided to demonstrate the feasibility of the proposed method.     

Observer-based finite-time control of time-delayed jump systems

This paper provides the observer-based finite-time control problem of time-delayed Markov jump systems that possess randomly jumping parameters. The transition of the jumping parameters is governed by a finite-state Markov process. The observer-based finite-time H_∞ controller via state feedback is proposed to guarantee the stochastic finite-time boundedness and stochastic finite-time stabilization of the resulting closed-loop system for all admissible disturbances and unknown time-delays. Based on stochastic finite-time stability analysis, sufficient conditions that ensure stochastic robust control performance of time-delay jump systems are derived. The control criterion is formulated in the form of linear matrix inequalities and the designed finite-time stabilization controller is described as an optimization one. The presented results are extended to time-varying delayed MJSs. Simulation results illustrate the effectiveness of the developed approaches.     

H∞ performance for uncertain discrete switched systems with interval time-varying delay via switching signal design

The switching signal design for H_∞ performance of uncertain discrete switched systems with interval delay and linear fractional perturbations is considered in this paper. Some LMI stability criteria are proposed to design the switching signal and guarantee the H_∞ performance for discrete switched time-delay system. Some nonnegative inequalities are introduced to improve the conservativeness of the proposed results. A numerical example is illustrated to show the less conservativeness of the main result. Finally, a water quality model is also provided to demonstrate the practical applications of our proposed results.     

Quadratic optimal synchronization of uncertain chaotic systems

This paper investigates the quadratic optimal synchronization of uncertain chaotic systems with parameter mismatch, parametric perturbations and external disturbances on both master and slave systems. A robust control scheme based on Lyapunov stability theory and quadratic optimal control approach is derived to realize chaotic synchronization. The sufficient criterion for stability condition is formulated in a linear matrix inequality (LMI) form. The effect of uncertain parameters and external disturbance is suppressed to an H_∞ norm constraint. An adaptive algorithm is proposed to adjust the uncertain bound in the robust controller avoiding the chattering phenomena. The simulation results for synchronization of the Chua’s circuit system and the Lorenz system demonstrate the effectiveness of the proposed scheme.     

Robust H∞ control for linear Markovian jump systems with unknown nonlinearities

This paper studies the problem of stochastic stability and disturbance attenuation for a class of linear continuous-time uncertain systems with Markovian jumping parameters. The uncertainties are assumed to be nonlinear and state, control and external disturbance dependent. A sufficient condition is provided to solve the above problem. An H_∞ controller is designed such that the resulting closed-loop system is stochastically stable and has a disturbance attenuation γ for all admissible uncertainties. It is shown that the control law is in terms of the solutions of a set of coupled Riccati inequalities. A numerical example is included to demonstrate the potential of the proposed technique.     

Kharitonov-like theorems for robust performance of interval systems

The sensitivity function of a control system is an important concept in performance analysis, classical filter design as well as modern robust H^∞ control. For an interval system, we prove that the maximal H^∞ norm of its sensitivity function is achieved at twelve (out of sixteen) Kharitonov vertices. Similar Kharitonov-like results are established for the complementary sensitivity function and strict positive realness of interval systems. These results are useful in robust performance analysis and H_∞ control design for dynamic systems under parametric perturbations.     

On hypoglycemic levels induced by H∞ control on type I diabetes mellitus

Distinct robust controllers based on H_∞-theory have been developed to prevent hyperglycemic levels in type I diabetic patients. The underlying idea is that the calculated insulin by these controllers is automatically adjusted by computation and delivered by an insulin pump via intravenous route. Although the evidence shows that severe hyperglycemic condition can be handled by these controllers, none has been tested on possible hypoglycemic scenarios which can be attributable to changes in physiological parameters under action of automatic insulin delivery. In this paper, a computational essay on hypoglycemic scenarios for three robust H_∞ controllers is presented. The objective is to study controllers performance in face to hypoglycemic scenarios induced by metabolic parameters. For this purpose two parameters on hepatic glucose production were selected to test the controllers execution against hypoglycemic scenarios. The results were analyzed statistically resulting similar for the three controllers. Our essay shows conditions such that the analyzed controllers cannot prevent hypoglycemic conditions even if they compute that delivered insulin has to be null at sub-intervals.     

Parameter-dependent H∞ filter design for LPV systems and an autopilot application

This paper considers the design problem of parameter dependent H_∞ filters for linear parameter varying (LPV) systems whose parameters are measurable. Conditions for existence of parameter-dependent Lyapunov function are proposed via parametrical linear matrix inequality (LMI) constraints. Based on the solutions to the LMIs, an algorithm for the gain matrices of LPV filter is presented. The design method is applied to a missile system to demonstrate the effectiveness.     

Robust finite-time H∞ control of singular stochastic systems via static output feedback

This paper addresses the problem of robust finite-time stabilization of singular stochastic systems via static output feedback. Firstly, sufficient conditions of singular stochastic finite-time boundedness on static output feedback are obtained for the family of singular stochastic systems with parametric uncertainties and time-varying norm-bounded disturbance. Then the results are extended to singular stochastic H_∞ finite-time boundedness for the class of singular stochastic systems. Designed algorithm for static output feedback controller is provided to guarantee that the underlying closed-loop singular stochastic system is singular stochastic H_∞ finite-time boundedness in terms of strict linear matrix equalities with a fixed parameter. Finally, an illustrative example is presented to show the validity of the developed methodology.     

Finite-time boundedness and L2-gain analysis for switched delay systems with norm-bounded disturbance

Finite-time boundedness and finite-time weighted L₂-gain for a class of switched delay systems with time-varying exogenous disturbances are studied. Based on the average dwell-time technique, sufficient conditions which guarantee the switched linear system with time-delay is finite-time bounded and has finite-time weighted L₂-gain are given. These conditions are delay-dependent and are given in terms of linear matrix inequalities. Detail proofs are given by using multiple Lyapunov-like functions. An example is employed to verify the efficiency of the proposed method.     

Finite-time H∞ control for a class of discrete-time switched time-delay systems with quantized feedback

This paper is concerned with the finite-time quantized H_∞ control problem for a class of discrete-time switched time-delay systems with time-varying exogenous disturbances. By using the sector bound approach and the average dwell time method, sufficient conditions are derived for the switched system to be finite-time bounded and ensure a prescribed H_∞ disturbance attenuation level, and a mode-dependent quantized state feedback controller is designed by solving an optimization problem. Two illustrative examples are provided to demonstrate the effectiveness of the proposed theoretical results.     

<Emphasis Type="Italic">H</Emphasis><Subscript>∞</Subscript> Observer-Based Control for a Class of Uncertain Neutral Time-Delay Systems via LMI Optimization Approach

In this paper, the H_∞ observer-based control for a class of uncertain neutral time-delay systems is considered. The linear matrix inequality (LMI) optimization approach is used to design the H_∞ robust control with disturbance attenuation. Two classes of observer-based controls are proposed and their H_∞-norm bounds are given. The control and observer gains are given from the LMI feasible solutions. A numerical example is given to illustrate the results. The research reported here was supported by the National Science Council of Taiwan under Grant NSC 93-2213-E-214-020.     

Finite-time L1 control for positive switched linear systems with time-varying delay

This paper is concerned with the problem of finite-time L₁ control for a class of positive switched linear systems with time-varying delay. Firstly, by using the average dwell time approach, sufficient conditions which can guarantee the L₁ finite-time boundedness of the underlying system are given. Then, in virtue of the results obtained, a state feedback controller is designed to ensure that the resulting closed-loop system is finite-time bounded with L₁-gain performance. All the obtained results are formulated in terms of linear matrix inequalities (LMIs), which can be solved conveniently. Finally, an example is given to illustrate the efficiency of the proposed method.     

LMI Approach to Robust Delay-Dependent Mixed H 2/H ∞ Controller of Uncertain Neutral Systems with Discrete and Distributed Time-Varying Delays

The design of a robust mixed H ₂/H _∞ controller for a class of uncertain neutral systems with discrete, distributed, and input time-varying delays is considered. More precisely, the proposed robust mixed H ₂/H _∞ controller minimizes an upper bound of the H ₂ performance measure, while guaranteeing an H _∞ norm bound constraint. Based on the Lyapunov-Krasovskii functional theory, a delay-dependent criterion is derived for the existence of a desired mixed H ₂/H _∞ controller, which can be constructed easily via feasible linear matrix inequalities (LMIs). Furthermore, a convex optimization problem satisfying some LMI constraints is formulated to obtain a suboptimal robust mixed H ₂/H _∞ controller achieving the minimization of an upper bound of the closed-loop H ₂ performance measure. Finally, a numerical example is illustrated to show the usefulness of the obtained design method.The research reported here was supported by the National Science Council of Taiwan, ROC under Grant NSC 94-2213-E-507-002.     

Robust stabilization for uncertain switched impulsive control systems with state delay: An LMI approach

This paper deals with the problem of robust H_∞ state feedback stabilization for uncertain switched linear systems with state delay. The system under consideration involves time delay in the state, parameter uncertainties and nonlinear uncertainties. The parameter uncertainties are norm-bounded time-varying uncertainties which enter all the state matrices. The nonlinear uncertainties meet with the linear growth condition. In addition, the impulsive behavior is introduced into the given switched system, which results a novel class of hybrid and switched systems called switched impulsive control systems. Using the switched Lyapunov function approach, some sufficient conditions are developed to ensure the globally robust asymptotic stability and robust H_∞ disturbance attenuation performance in terms of certain linear matrix inequalities (LMIs). Not only the robustly stabilizing state feedback H_∞ controller and impulsive controller, but also the stabilizing switching law can be constructed by using the corresponding feasible solution to the LMIs. Finally, the effectiveness of the algorithms is illustrated with an example.     

Robust <Emphasis Type="Italic">H</Emphasis><Subscript>∞</Subscript> Output Dynamic Observer-Based Control Design of Uncertain Neutral Systems

In this paper, the robust H _∞ control problem of output dynamic observer-based control for a class of uncertain neutral systems is considered. The linear matrix inequality optimization approach is used to design the new H _∞ output dynamic controls. Three classes of H _∞ observer-based controls are proposed. The minimal H _∞-norm bound and the maximal perturbed bound are given. Based on the result of this paper, the constraint of matrix equality is not necessary for designing the H _∞ observer-based controls. A numerical example is given to stress the usefulness of the proposed results. Communicated by C. T. Leondes The research reported here was supported by the National Science Council of Taiwan, ROC under Grant NSC 94-2213-E-507-002.     

H∞ control of a class of networked control systems with time delay and packet dropout

This paper studies the H-infinity control issue for a class of networked control systems (NCSs) with time delay and packet dropout. The state feedback closed-loop NCS is modeled as a discrete-time switched system. Through using a Lyapunov function, a sufficient condition is obtained, under which the system is exponential stability with a desired H-infinity disturbance attenuation level. The designed H-infinity controller is obtained by solving a set of linear matrix inequalities. An illustrative example is presented to demonstrate the effectiveness of the proposed method.     

Robust H ∞ Filtering for Uncertain Time-Delay Systems: Matrix Inequality Approach

In this paper, a new robust H _∞ filtering problem for uncertain time-delay systems is considered. Based on the Lyapunov method, a design criterion of the robust H _∞ filter, in which the filtering process remains asymptotically stable for all admissible uncertainties and the transfer function from the disturbance inputs to error state outputs satisfies the prespecified H _∞ norm upper bound constraint, is derived in terms of matrix inequalities. The inequalities can be solved easily by efficient convex optimization algorithms. A numerical example is included to illustrate the validity of the proposed design approach.