Nonlinear Systems and Control Lecture # 27 Stabilization Partial Feedback Linearization

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Consider the nonlinear system

x = f (x) + G(x)u [f (0) = 0]

Suppose there is a change of variables

z= = T (x) = T1 (x) T2 (x)

dened for all x D Rn , that transforms the system into

= f0 (, ) = A + B(x)[u (x)] (A, B) is controllable and (x) is nonsingular for all x D

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u = (x) + 1 (x)v = f0 (, ), = A + Bv

Suppose the origin of = f0 (, 0) is asymptotically stable

v = K,

where (A BK) is Hurwitz

Lemma 13.1: The origin of

= f0 (, ), = (A BK)

is asymptotically stable if the origin of = f0 (, 0) is asymptotically stable Proof:

V (, ) = V1 ()+k T P

p. 3/1

If the origin of = f0 (, 0) is globally asymptotically stable, will the origin of

= f0 (, ), = (A BK)

be globally asymptotically stable? In general No Example = + 2 , =v The origin of = is globally exponentially stable, but the origin of = + 2 , = k, k > 0 is not globally asymptotically stable. The region of attraction is { < 1 + k}

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Example
= 1 (1 + 2 ) 3 , 2 1 = 2 , 2 = v

The origin of = 1 3 is globally asymptotically stable 2

v = k 1 2k2 = K
2 def

ABK =

0 1 k2 2k

The eigenvalues of (A BK) are k and k kt kt (1 + kt)e te e(ABK)t = k2 tekt (1 kt)ekt

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Peaking Phenomenon:
max{k te
t 2 kt

}=

k e

as k

1 (0) = 1, 2 (0) = 0 2 (t) = k2 tekt =

1 2

1 k2 tekt 3 ,
2 0

(0) = 0

2 (t) =

2 1 + 0 [t + (1 + kt)ekt 1]

2 If 0 > 1, the system will have a nite escape time if k is chosen large enough

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Lemma 13.2: The origin of

= f0 (, ), = (A BK)

is globally asymptotically stable if the system = f0 (, ) is input-to-state stable Proof: Use Lemma 4.7: If x1 = f1 (x1 , x2 ) is ISS and the origin of x2 = f2 (x2 ) is globally asymptotically stable, then the origin of x1 = f1 (x1 , x2 ), x2 = f2 (x2 ) is globally asymptotically stable

p. 7/1

u = (x) 1 (x)KT2 (x)

What is the effect of uncertainty in , , and T2 ?

Let (x), (x), and T2 (x) be nominal models of (x), (x), and T2 (x) u = (x) 1 (x)K T2 (x) = f0 (, ), = (A BK) + B(z)

= [ + 1 KT2 1 K T2 ]

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Lemma 13.4 If (z) for all z and = f0 (, ) is input-to-state stable, then the state z is globally ultimately bounded by a class K function of If (z) k z in some neighborhood of z = 0, with sufciently small k, and the origin of = f0 (, 0) is exponentially stable, then z = 0 is an exponentially stable equilibrium point of the system
= f0 (, ), = (A BK) + B(z)

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ProofFirst Part: As in Lemma 13.3

(t)
c,

t t0
tt0

(t) 0 ( (t0 ) , t t0 ) + 0 (sup (t) ) (t) 0 ( (t0 ) , t t0 ) + 0 (c)

ProofSecond Part: c1
V1

V1 () c2
2

f0 (, 0) c3 V1 c4

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V (z) = bV1 () + T P V
T

Q=

bc3 (k P B + bc4 L/2) (k P B + bc4 L/2) 1 2k P B b=k Q is positive denite for sufciently small k

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