Download Active disturbance rejection control for nonlinear systems : by Bao-Zhu Guo, Zhi-Liang Zhao PDF

By Bao-Zhu Guo, Zhi-Liang Zhao

A concise, in-depth advent to energetic disturbance rejection regulate concept for nonlinear platforms, with numerical simulations and obviously labored out equations

  • Provides the elemental, theoretical origin for purposes of energetic disturbance rejection control
  • Features numerical simulations and obviously labored out equations
  • Highlights some great benefits of energetic disturbance rejection regulate, together with small overshooting, quickly convergence, and effort savings

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Extra resources for Active disturbance rejection control for nonlinear systems : an introduction

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9 is about finite stability for the weighted homogeneous systems. 9 Suppose that the vector field f ∈ C(Rn , Rn ) is d-degree homogeneous with weights {ri }ni=1 , f (0) = 0. 87) is finite-time stable on attracting basin Ω ⊂ Rn , then it is asymptotically stable on Ω. 87) is finite-stable on Ω. Furthermore, let U ⊂ Ω be an open neighborhood of zero state. Then for any integer k > max{d, r1 , r2 , . . , rn } there exists a positive definite function V ∈ C 1 (U, [0, ∞)), which is k-degree homogeneous with weights {ri > 0}ni=1 .

We may assume without loss of the generality that t1 ≤ t2 . Firstly, we prove that |Vq (t1 , x1 ) − Vq (t1 , x2 )| ≤ e(2λ+K)T x1 − x2 ∞. 159) By the definition of Vq (t, x), for every σ ∈ (0, Vq (t1 , x1 )), there exist ϕ1 ∈ St1 ;x1 and τ ∈ [0, T ] such that Vq (t1 , x1 ) − σ < e2λτ Gq ( ϕ1 (t1 + τ ) ∞) ≤ Vq (t1 , x1 ). 160) Hence Vq (t1 , x1 ) − Vq (t1 , x2 ) < e2λτ Gq ( ϕ1 (t1 + τ ) ∞) − Vq (t1 , x2 ) + σ. 11, and Claim 1 that there exists a solution ψ2 ∈ St1 ,x2 such that ϕ1 (t) − ϕ2 (t) ∞ ≤ x1 − x2 ∞ eK|t−t1 | as long as m−1 (1/q) ≤ ϕ1 (t) ∞ ≤ m(R + 1) and x1 − x2 ∞ eK|t1 −t| ≤ b.

X2n ). Proof. Let B = (bij ) satisfy → − − → (A ⊗ I + I ⊗ A ) B = C . 61) It follows from the Gramer law that bij = det(Δij ) , i, j = 1, 2, . . , n, det(Δ) where Δij is the matrix where the (i − 1)nj th column (the number of bij ’s coefficient column) → − in Δ is replaced by C and other columns are the same as in Δ. Then n V (x) = x Bx = bij xi xj . 62) i,j=1 On the other hand, a direct computation shows that n n det(Δij ) 0 X 1 = xx = b xx . 5. 53) is globally asymptotical stable. Proof.

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