Abstract
Lyapunov techniques are used to design robust controllers for nonlinear systems. The objective is to use the system structure to simplify the controller as far as possible. A general robust control scheme is developed that applies to systems described by a class of second-order nonlinear equations. Applications to a mobile robot and a chemical stirred tank reactor are given.
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Liu, K., Lewis, F.L. Robust control techniques for general dynamic systems. J Intell Robot Syst 6, 33–49 (1992). https://doi.org/10.1007/BF00314696
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DOI: https://doi.org/10.1007/BF00314696