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A robust controller design for uncertain nonlinear non-affine systems

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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.

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Authors and Affiliations

  1. Faculty of Electrical and Robotic Engineering, Shahrood University of Technology, Shahrood, Iran

    Hamzeh Ansari & Alireza Alfi

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  1. Hamzeh Ansari
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  2. Alireza Alfi
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Correspondence to Alireza Alfi.

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Ansari, H., Alfi, A. A robust controller design for uncertain nonlinear non-affine systems. Int. J. Dynam. Control 7, 1443–1452 (2019). https://doi.org/10.1007/s40435-019-00544-7

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  • DOI: https://doi.org/10.1007/s40435-019-00544-7

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