Two kinds of saturated controllers are designed for a class of feedforward systems andthe closed-loop resulted is locally input-to-state stable and input-to-state stable, respectively. By theword “locally”, it is me...Two kinds of saturated controllers are designed for a class of feedforward systems andthe closed-loop resulted is locally input-to-state stable and input-to-state stable, respectively. By theword “locally”, it is meant that there are restrictions on the amplitude of inputs. At first, underthe guidance of suitable energy functions, two kinds of saturated controllers are designed as locallyinput-to-state stabilizers for a class of perturbed linear systems, from which explicit gain estimationscan be obtained for the subsequent design. Then under the conditions that two subsystems of thefeedforward system are respectively of locally input-to-state stability and input-to-state stability, thesmall gain theory is used to determine saturated degrees for corresponding robust stabilizers. Thestability proofs are given by using a new characterization of input-to-state stability that is based onthe concept of ultimate boundedness. As an application, saturated controllers are designed for thepartial dynamics of a certain inverted pendulum.展开更多
文摘Two kinds of saturated controllers are designed for a class of feedforward systems andthe closed-loop resulted is locally input-to-state stable and input-to-state stable, respectively. By theword “locally”, it is meant that there are restrictions on the amplitude of inputs. At first, underthe guidance of suitable energy functions, two kinds of saturated controllers are designed as locallyinput-to-state stabilizers for a class of perturbed linear systems, from which explicit gain estimationscan be obtained for the subsequent design. Then under the conditions that two subsystems of thefeedforward system are respectively of locally input-to-state stability and input-to-state stability, thesmall gain theory is used to determine saturated degrees for corresponding robust stabilizers. Thestability proofs are given by using a new characterization of input-to-state stability that is based onthe concept of ultimate boundedness. As an application, saturated controllers are designed for thepartial dynamics of a certain inverted pendulum.
