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International Journal of Dynamics and Control

, Volume 7, Issue 4, pp 1443–1452 | Cite as

A robust controller design for uncertain nonlinear non-affine systems

  • Hamzeh Ansari
  • Alireza AlfiEmail author
Article
  • 52 Downloads

Abstract

In this paper, a robust controller for a general class of uncertain nonlinear non-affine systems is designed. An affine virtual description with lumped uncertainty is provided for such systems using the pulse width modulation (PWM) and the Filippov’s average model. The uncertainty is estimated by means of an estimator, and a robust controller is then designed to cope with this uncertainty. Stability analysis of the whole system is derived based on the Lyapunov theorem. Finally, theoretical results are tested by simulations.

Keywords

Robust controller Uncertainty Estimator Non-linear non-affine systems Filippov’s average model Pulse width modulation 

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Copyright information

© Springer-Verlag GmbH Germany, part of Springer Nature 2019

Authors and Affiliations

  1. 1.Faculty of Electrical and Robotic EngineeringShahrood University of TechnologyShahroodIran

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