Optimal Feedback Stabilizing Control of Bounded Jacobian Discrete-Time Systems via Interval Observers
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arXiv
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| Format: | Preprint |
| Published: |
2024
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| _version_ | 1866912069857574912 |
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| author | Khajenejad, Mohammad |
| author_facet | Khajenejad, Mohammad |
| contents | This paper addresses optimal feedback stabilizing control for bounded Jacobian nonlinear discrete-time (DT) systems with nonlinear observations, affected by state and process noise. Instead of directly stabilizing the uncertain system, we propose stabilizing a higher-dimensional interval observer whose states enclose the true system states. Our nonlinear control approach introduces additional flexibility compared to linear methods, compensating for system nonlinearities and allowing potentially tighter closed-loop intervals. We also establish a separation principle, enabling independent design of observer and control gains, and derive tractable linear matrix inequalities, resulting in a stable closed-loop system. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2410_09222 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Optimal Feedback Stabilizing Control of Bounded Jacobian Discrete-Time Systems via Interval Observers Khajenejad, Mohammad Systems and Control This paper addresses optimal feedback stabilizing control for bounded Jacobian nonlinear discrete-time (DT) systems with nonlinear observations, affected by state and process noise. Instead of directly stabilizing the uncertain system, we propose stabilizing a higher-dimensional interval observer whose states enclose the true system states. Our nonlinear control approach introduces additional flexibility compared to linear methods, compensating for system nonlinearities and allowing potentially tighter closed-loop intervals. We also establish a separation principle, enabling independent design of observer and control gains, and derive tractable linear matrix inequalities, resulting in a stable closed-loop system. |
| title | Optimal Feedback Stabilizing Control of Bounded Jacobian Discrete-Time Systems via Interval Observers |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2410.09222 |