- Title
- Invariant sets via LPV-embedding for Lure nonlinear systems with unmatched nonlinearities
- Creator
- Hanafi, Ainain Nur; Seron, Maria M.; De Doná, José A.; Cranney, Jesse
- Relation
- Australian and New Zealand Control Conference (ANZCC 2017). Proceedings of the Australian and New Zealand Control Conference (Gold Coast, Qld 17-20 December, 2017) p. 29-34
- Publisher Link
- http://dx.doi.org/10.1109/ANZCC.2017.8298439
- Publisher
- Institute of Electrical and Electronics Engineers (IEEE)
- Resource Type
- conference paper
- Date
- 2017
- Description
- We derive sufficient conditions for the existence of invariant sets for Lure nonlinear systems where the nonlinearity is not matched with the control input. The sector bounded non-linearity is represented as a time-varying parameterised linear function with bounded parameter variations, and the invariant sets are computed by embedding the nonlinear system into a convex polytopic LPV system. We show that the `matching' condition for the nonlinearity can be relaxed for the case when the matrices associated with the nonlinearity satisfy a special relation. An example of a flexible manipulator is provided to illustrate the results.
- Subject
- linear matrix inequalities; nonlinear systems; trajectory; manipulators; eigenvalues and eigenfunctions; linearity
- Identifier
- http://hdl.handle.net/1959.13/1386480
- Identifier
- uon:32425
- Identifier
- ISBN:9781538621783
- Language
- eng
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