Robust stabilization for a class of uncertain dynamical systems with time delay

In this paper, a new and simple approach whereby we derive several sufficient conditions on robust stabilizability for a class of uncertain dynamical systems with time delay is presented. Some analytical methods and the Bellman-Gronwall inequality are employed to investigate these sufficient conditions. The notable features of the results obtained are their simplicity in testing the stability of uncertain dynamical systems with time delay and their clarity in giving insight into system analysis. Finally, several numerical examples are given to demonstrate the utilization of the results.The authors would like to acknowledge the many helpful comments provided by the reviewer. Particularly, in the light of these comments, the proof of Theorem 3.1 has been considerably shortened.     

Output stabilization for a class of uncertain systems

The system

$$\frac{{dx}}{{dt}} = A\left( \cdot \right)x + B\left( \cdot \right)u,{\kern 1pt} \frac{{dy}}{{dt}} = A\left( \cdot \right)y + B\left( \cdot \right)u + D\left( {C*y - v} \right)$$

where v = C*x is an output, u = S*y is a control, A(·) ∈ R ^{n × n} , B(·) ∈ R ^{n × (n–p)}, C ∈ R ^{n × (n–p)}, and D ∈ R ^{n × (n–p)}, is considered. The elements α_ij(·) and β_ij(·) of the matrices A(·) and B(·) are arbitrary functionals satisfying the conditions

$$\mathop {\sup }\limits_{\left( \cdot \right)} |{\alpha _{ij}}\left( \cdot \right)| < \infty \left( {i,j \in 1,n} \right),\mathop {\sup }\limits_{\left( \cdot \right)} |{\beta _{ij}}\left( \cdot \right)| < \infty \left( {i \in 1,n,j \in 1,n - p} \right).$$

It is assumed that A(·) ∈ Z ₁ ∪ Z ₃ and A*(·) ∈ Z ₁ ∪ Z ₃, where Z ₁ is the class of matrices in which the first p elements of the kth superdiagonal are sign-definite and the elements above them are sufficiently small. The class Z ₃ differs from Z _t1 in that the elements between this superdiagonal and the (k + 1)th row are sufficiently small. If k > p, then the elements of the p × p square in the upper left corner of the matrix are sufficiently small as well. By using special quadratic Lyapunov functions, a matrix D for which y(t)–x(t) → 0 exponentially as t → ∞ is first found, and then a matrix S for which the vectors x(t) and y(t) have the same property is constructed.

     

Robust stabilization control design for multivariable nonlinear uncertain systems

The paper develops a new control technique for multivariablenonlinear systems in the presence of uncertainties and externaldisturbances. The proposed design method does not require thatthe uncertainties should satisfy matching conditions; nor doesit require that the nominal system should be stable or prestabilized.The robust-control strategy is established using concepts fromvariable-structure theory and is based on Lyapunov stabilitytheory. The control possesses a quite simple structure whichis related to the given uncertainty bounds.     

Dissipativity of some class of uncertain systems

We consider the system $$ \dot x = A\left( \cdot \right)x + B\left( \cdot \right)u, u = S\left( \cdot \right)x, t \geqslant t_0 , $$ where A(·) ∈ ? ^n×n , B(·) ? ^n×p , and S(·) ∈ ? ^p×n . The entries of matrices A(·), B(·), and S(·) are arbitrary bounded functionals. We consider the problem of constructing a matrix H > 0 and finding relations between the entries of the matrices B(·) and S(·) such that for a given constant matrix R the inequality $$ V\left( {x\left( t \right)} \right) < V\left( {x\left( {t_0 } \right)} \right) + \int\limits_{t_0 }^t {x*\left( \tau \right)Rx\left( \tau \right)d\tau ,} $$ where V(x) = x*Hx, is satisfied. This problem is solved for the cases where matrix A(·) has p sign-definite entries on the upper part of some subdiagonal or on the lower part of some superdiagonal. It is assumed also that all entries located to the left (or to the right) of the sign-definite entries are equal to zero.     

Robust stabilization of uncertain linear dynamical systems with time-varying delay

In this paper, the problem of the robust stabilization for a class of uncertain linear dynamical systems with time-varying delay is considered. By making use of an algebraic Riccati equation, we derive some sufficient conditions for robust stability of time-varying delay dynamical systems with unstructured or structured uncertainties. In our approach, the only restriction on the delay functionh(t) is the knowledge of its upper boundh ^–. Some analytical methods are employed to investigate these stability conditions. Since these conditions are independent of the delay, our results are also applicable to systems with perturbed time delay. Finally, a numerical example is given to illustrate the use of the sufficient conditions developed in this paper.     

Robust stabilization of internally delayed uncertain systems via sliding mode control

Summary The problem of robust stabilization of internally delayed uncertain systems via sliding mode controllers (SMC's) is studied in this paper. The robustness property and assymptotic stability of the system are discussed. Some sufficient conditions for the design of SMC and the switching hyperplane are given. Further generalization results, which lead to a simple design and implementation, are made for the system being described in companion form. A method is suggested for the elimination of limit cycles in systems being regulated by a relay SMC while allowing the generation of sliding motion and thus ensuring the closed-loop asymptotic stability.     

Robust reliable stabilization of uncertain switched neutral systems with delayed switching

This paper investigates the problem of robust reliable control for a class of uncertain switched neutral systems under asynchronous switching, where the switching instants of the controller experience delays with respect to those of the system and the parameter uncertainties are assumed to be norm-bounded. A state feedback controller is proposed to guarantee exponential stability and reliability for switched neutral systems, and the dwell time approach is utilized for the stability analysis and controller design. A numerical example is given to illustrate the effectiveness of the proposed method.     

Robust exponential stabilization for large-scale uncertain impulsive systems with coupling time-delays

In this paper, we aim to study robust exponential stabilization for a large-scale uncertain impulsive system with coupling time-delays. Furthermore, we also provide an estimation of the rate of convergence of exponential stabilization. By utilizing the Lyapunov method and Razumikhin technique, we shall design the feedback hybrid controllers in terms of linear matrix inequalities under which the robust exponential stability is achieved for a closed-loop large-scale uncertain impulsive system with coupling time-delays. Moreover, we shall also use the results obtained to design impulsive controllers for a large-scale uncertain continuous system under which the closed-loop continuous system achieves robust and exponential stability. To illustrate our results, one example is solved.     

Robust stabilization of a class of state-dependent jump linear systems

In this article, we consider a continuous-time state-dependent jump linear system (SDJLS), a kind of stochastic hybrid system, with the presence of uncertainties in system parameters. In SDJLS, we consider that the transition rates of the underlying random jump process depend on the state variable. In particular, we assume the transition rates to have different values across suitably defined sets to which the state of the system belongs, and address a problem of robust stability and stabilization analysis. We obtain sufficient conditions for robust stability and state-feedback stabilization in terms of linear matrix inequalities (LMIs). We validate the obtained sufficient robust stability and stabilization conditions with numerical examples.     

Robust control design for a class of mismatched uncertain nonlinear systems

We consider the robust control design problem for a class of nonlinear uncertain systems. The uncertainty in the system may be due to parameter variations and/or nonlinearity. It may be (possibly fast) time-varying. The system does not satisfy the so-called matching condition. Under a state transformation, which is based on the possible bound of the uncertainty, a robust control scheme can be designed. The control renders the uncertain system practically stable. Furthermore, the uniform ultimate boundedness ball and uniform stability ball can be made arbitrarily small by suitable choice of design parameters.     

Robust control design for a class of mismatched uncertain nonlinear systems

We consider the robust control design problem for a class of nonlinear uncertain systems. The uncertainty in the system may be due to parameter variations and/or nonlinearity. It may be possibly fast, time-varying. The system does not satisfy the so-called matching condition. Under a state transformation, which is based on the possible bound of the uncertainty, a robust control scheme can be designed. The control renders the original uncertain system practically stable. Furthermore, the uniform ultimate boundedness ball and uniform stability ball of the original system can be made arbitrarily small by suitable choice of design parameters.     

Robust exponential stability and delayed-state-feedback stabilization of uncertain impulsive stochastic systems with time-varying delay

This paper studies the problem of robust exponential stability and delayed-state-feedback stabilization of uncertain impulsive stochastic systems with time-varying delay. The state variables on the impulses are assumed dependent on the present state variables as well as delayed state variables. Based on the Razumikhin techniques and Lyapunov functions, some robust mean-square exponential stability criteria are derived in terms of linear matrix inequalities. The results show that the system will stable if the impulses’ frequency and amplitude are suitably related to the increase or decrease of the continuous flows. Furthermore, the robust delayed-state-feedback controllers that mean-square exponentially stabilize the uncertain impulsive stochastic systems are proposed. Finally, several numerical examples are given to show the effectiveness of the results.     

Semi-global finite-time output feedback stabilization for a class of large-scale uncertain nonlinear systems

This paper addresses the problem of semi-global finite-time decentralized output feedback control for large-scale systems with both higher-order and lower-order terms. A new design scheme is developed by coupling the finite-time output feedback stabilization method with the homogeneous domination approach. Specifically, we first design a homogeneous observer and an output feedback control law for each nominal subsystem without the nonlinearities. Then, based on the homogeneous domination approach, we relax the linear growth condition to a polynomial one and construct decentralized controllers to render the nonlinear system semi-globally finite-time stable.     

Robust stability and stabilization of linear stochastic systems with Markovian switching and uncertain transition rates

This paper is concerned with the robust stabilization problem for a class of linear uncertain stochastic systems with Markovian switching. The uncertain stochastic system with Markovian switching under consideration involves parameter uncertainties both in the system matrices and in the mode transition rates matrix. New criteria for testing the robust stability of such systems are established in terms of bi-linear matrix inequalities (BLMIs), and sufficient conditions are proposed for the design of robust state-feedback controllers. A numerical example is given to illustrate the effectiveness of our results.     

Robust stability criteria for a class of uncertain discrete-time systems with time-varying delay

In this paper, we consider the problem of delay-dependent robust stability of a class of uncertain discrete-time systems with time-varying delay using Lyapunov functional approach. Two categories of time-varying uncertainties are considered for the robust stability analysis: viz., (i) nonlinear perturbations and (ii) norm-bounded uncertainties. In the proposed stability analysis, by exploiting a candidate Lyapunov functional, and using minimal number of slack matrix variables, less conservative stability criteria are developed in terms of linear matrix inequalities (LMIs) for computing the maximum allowable bound of the delay-range, within which, the uncertain system under consideration remains asymptotically stable in the sense of Lyapunov. The effectiveness of the proposed stability criteria is demonstrated using standard numerical examples.     

Robust stabilization of linear interval systems

For systems whose parameters are accurately known up to their upper and lower limits, a ranked controllability criterion is introduced using interval matrices [1–3]. A procedure is proposed for calculating the minimum singular number of the interval matrix, which serves as a measure of the controllability margin [4]. The controllability criterion introduced is used to synthesize robust control. It is shown that the parameters of the controller with the required properties can be found by solving the Sylvester equation with interval coefficients.     

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 stability and stabilization methods for a class of nonlinear discrete-time delay systems

This paper establishes new robust delay-dependent stability and stabilization methods for a class of nonlinear discrete-time systems with time-varying delays. The parameter uncertainties are convex-bounded and the unknown nonlinearities are time-varying perturbations satisfying Lipschitz conditions in the state and delayed-state. An appropriate Lyapunov functional is constructed to exhibit the delay-dependent dynamics and compensate for the enlarged time-span. The developed methods for stability and stabilization eliminate the need for over bounding and utilize smaller number of LMI decision variables. New and less conservative solutions to the stability and stabilization problems of nonlinear discrete-time system are provided in terms of feasibility-testing of new parametrized linear matrix inequalities (LMIs). Robust feedback stabilization methods are provided based on state-measurements and by using observer-based output feedback so as to guarantee that the corresponding closed-loop system enjoys the delay-dependent robust stability with an L₂ gain smaller that a prescribed constant level. All the developed results are expressed in terms of convex optimization over LMIs and tested on representative examples.     

Robust reconstruction of the discrete state for a class of nonlinear uncertain switched systems

This paper presents an approach to the robust state reconstruction for a class of nonlinear switched systems affected by model uncertainties. Under the assumption that the continuous state is available for measurement, an approach is presented based on concepts and methodologies derived from the sliding mode control theory. With noise-free state measurements, the time needed for reconstructing the discrete state after a transition can be made arbitrarily small by sufficiently increasing a certain observer tuning parameter. Simulations and experiments, carried out on a three-tank laboratory setup, are presented and commented.