Iterative LMI Approach to Robust State-feedback Control of Polynomial Systems with Bounded Actuators
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Author list: Jennawasin T., Kawanishi M., Narikiyo T., Banjerdpongchai D.
Publisher: Institute of Control, Robotics and Systems
Publication year: 2019
Volume number: 17
Issue number: 4
Start page: 847
End page: 856
Number of pages: 10
ISSN: 1598-6446
eISSN: 1598-6446
Languages: English-Great Britain (EN-GB)
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Abstract
This paper presents a novel approach to state-feedback stabilization of polynomial systems with bounded actuators. To overcome limitation of the existing approaches, we introduce additional variables that separate the system matrices and the Lyapunov matrices. Therefore, parameterization of the state-feedback controllers is independent of the Lyapunov matrices. The proposed design condition is bilinear in the decision variables, and hence we provide an iterative algorithm to solve the design problem. At each iteration, the design condition is cast as convex optimization using the sum-of-squares technique and can be efficiently solved. In addition, the novel parameter-dependent Lyapunov functions are readily applied to robust state-feedback stabilization of polynomial systems subject to parametric uncertainty. Effectiveness of the proposed approach is demonstrated by numerical examples. ฉ 2019, ICROS, KIEE and Springer.
Keywords
Bounded actuators, parameter-dependent LMI, robust state-feedback, sum-of-squares technique
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