文章基本信息

标题：Improved sampled-data implementation of derivative-dependent control
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作者：Anton Selivanov ; Emilia Fridman
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2018
卷号：51
期号：25
页码：212-215
DOI：10.1016/j.ifacol.2018.11.107
语种：English
出版社：Elsevier
摘要：AbstractWe consider an LTI system of relative degree two that can be stabilized using the output and its derivative. The derivative is approximated using a finite difference, what leads to a time-delayed feedback. This feedback is analyzed using a Lyapunov-Krasovskii functional that compensates the derivative approximation error presented in an integral form. We show that if the derivative-dependent control exponentially stabilizes the system, then one can use consecutively sampled measurements to approximate the derivative and this approximation will preserve the stability if the sampling period is small enough. We provide linear matrix inequalities that allow to find admissible sampling period and can be used for robustness analysis with respect to system uncertainties. The results are demonstrated by two examples: 2D uncertain system and the Furuta pendulum.