online read us now
Paper details
Number 4 - December 2019
Volume 29 - 2019
Fundamental limitations of the decay of generalized energy in controlled (discrete-time) nonlinear systems subject to state and input constraints
István Selek, Enso Ikonen
Abstract
This paper is devoted to the analysis of fundamental limitations regarding closed-loop control performance of discrete-time
nonlinear systems subject to hard constraints (which are nonlinear in state and manipulated input variables). The control
performance for the problem of interest is quantified by the decline (decay) of the generalized energy of the controlled
system. The paper develops (upper and lower) barriers bounding the decay of the system’s generalized energy, which can
be achieved over a set of asymptotically stabilizing feedback laws. The corresponding problem is treated without the loss
of generality, resulting in a theoretical framework that provides a solid basis for practical implementations. To enhance
understanding, the main results are illustrated in a simple example.
Keywords
decay rate maximization, Lyapunov function, nonlinear control systems