Yury V. Orlov (auth.)1848009836, 9781848009837, 1848009844, 9781848009844
A major problem in control engineering is robust feedback design that stabilizes a nominal plant while also attenuating the influence of parameter variations and external disturbances. This monograph addresses this problem in uncertain discontinuous dynamic systems with special attention to electromechanical systems with hard-to-model nonsmooth phenomena such as friction and backlash. Ignoring these phenomena may severely limit performance so the practical utility of existing smooth control algorithms becomes questionable for many electromechanical applications.
With this motivation, Discontinuous Systems develops nonsmooth stability analysis and discontinuous control synthesis based on novel modeling of discontinuous dynamic systems, operating under uncertain conditions. Although it is primarily a research monograph devoted to the theory of discontinuous dynamic systems, no background in discontinuous systems is required; such systems are introduced in the book at the appropriate conceptual level. Being developed for discontinuous systems, the theory is successfully applied to their subclasses – variable-structure and impulsive systems – as well as to finite- and infinite-dimensional systems such as distributed-parameter and time-delay systems. The presentation concentrates on algorithms rather than on technical implementation although theoretical results are illustrated by electromechanical applications. These specific applications complete the book and, together with the introductory theoretical constituents bring some elements of the tutorial to the text.
Table of contents :
Front Matter….Pages i-xix
Introduction….Pages 1-10
Front Matter….Pages 11-12
Mathematical Models….Pages 13-43
Stability Analysis….Pages 45-85
Finite-time Stability of Uncertain Homogeneous and Quasihomogeneous Systems….Pages 87-101
Front Matter….Pages 103-104
Quasihomogeneous Design….Pages 105-112
Unit Feedback Design….Pages 113-132
Disturbance Attenuation via Nonsmooth ℋ ∞ -design….Pages 133-158
Front Matter….Pages 159-160
Global Asymptotic Stabilization of Uncertain Linear Systems….Pages 161-192
Asymptotic Stabilization of Minimum-phase Semilinear Systems….Pages 193-214
Global Asymptotic Stabilization of Uncertain Time-delay Systems….Pages 215-226
Front Matter….Pages 227-228
Local Nonsmooth ℋ ∞ -synthesis Under Friction/Backlash Phenomena….Pages 229-248
Quasihomogeneous Stabilization of Fully Actuated Systems with Dry Friction….Pages 249-263
Hybrid Control of Underactuated Manipulators with Frictional Joints….Pages 265-307
Back Matter….Pages 309-320
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