Control of nonlinear chained systems: From the Routh-Hurwitz stability criterion to time-varying exponential stabilizers

Authors
Morin, P Samson, C
Citation
P. Morin et C. Samson, Control of nonlinear chained systems: From the Routh-Hurwitz stability criterion to time-varying exponential stabilizers, IEEE AUTO C, 45(1), 2000, pp. 141-146
Citations number
19
Categorie Soggetti
AI Robotics and Automatic Control
Journal title
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
ISSN journal
00189286 → ACNP
Volume
45
Issue
1
Year of publication
2000
Pages
141 - 146
Database
ISI
SICI code
0018-9286(200001)45:1<141:CONCSF>2.0.ZU;2-O
Abstract
We show how any linear feedback that stabilizes the origin of a linear chai n of integrators induces a simple, continuous time-varying feedback that ex ponentially stabilizes the origin of a nonlinear chained-form system. The d esign method is related to a method developed by M'Closkey and Murray to tr ansform smooth feedback yielding slow polynomial convergence into continuou s homogeneous ones that give exponential convergence.