Backstepping with Local LQ Performance and Global Approximation of Quadratic Performance

• Some previously existing results on locally optimal backstepping controllers are extended to a larger class of nonlinear systems and another performance index. The result is a design procedure that gives a nonlinear controller with LQ performance in the origin and tries to recover the quadratic performance index also globally. As a part of the controller design, a novel approach for solving an inverse optimality problem is presented.

Ämnesord

TEKNIK OCH TEKNOLOGIER  -- Elektroteknik och elektronik -- Reglerteknik (hsv//swe)

ENGINEERING AND TECHNOLOGY  -- Electrical Engineering, Electronic Engineering, Information Engineering -- Control Engineering (hsv//eng)

Nyckelord

Nonlinear control

Backstepping

Inverse optimality

TECHNOLOGY

TEKNIKVETENSKAP

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