Invariant sets via LPV-embedding for Lure nonlinear systems with unmatched nonlinearities

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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