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Extension of Pozharitsky theorem for partial stabilization of a system with several first integrals

In English

Författare

Summary, in English

The paper is devoted to an extension of one particular fact withintheory of partial stability, the so-called Pozharitsky Theorem,to the case of partial stabilization of nonlinear controlled system.It is shown that under appropriate assumptions partialstabilization of the system based on usage some Lyapunov functionconstructed from first integrals of the unforced system, impliesthat the Lyapunov function of a simplified form also leads toa controller that partially stabilizes the system. The theoreticalresults are illustrated by the problem of partial stabilization ofthe downward equilibrium of the Inertia Wheel Pendulum.

Publiceringsår

2002

Språk

Engelska

Sidor

3512-3517

Publikation/Tidskrift/Serie

Proceedings of the 41st IEEE Conference on Decision and Control, 2002

Volym

3

Dokumenttyp

Konferensbidrag

Förlag

IEEE - Institute of Electrical and Electronics Engineers Inc.

Ämne

  • Control Engineering

Nyckelord

  • nonlinear controlled system
  • partial stabilization
  • Lyapunov function
  • downward equilibrium
  • Pozharitsky theorem
  • inertia wheel pendulum

Status

Published

ISBN/ISSN/Övrigt

  • ISSN: 0191-2216
  • ISBN: 0-7803-7516-5