Robust Aperiodic Sampled-Data Washout Control for Uncertain Affine Systems

TL;DR

This paper presents a method for designing robust aperiodic sampled-data controllers for uncertain affine systems, ensuring stability through hybrid system modeling and sum-of-squares programming, with demonstrated effectiveness.

Contribution

It introduces a new hybrid system model and a constructive design algorithm for stabilizing uncertain affine systems with aperiodic sampling.

Findings

Controller design algorithm is effective in stabilizing uncertain systems.

Sum-of-squares programming facilitates constructive controller synthesis.

Numerical example confirms the approach's robustness and practicality.

Abstract

In this paper, we address the problem of designing an aperiodic sampled-data controller stabilizing the zero-input equilibrium of an uncertain affine plant. The closed-loop system is modeled as a hybrid dynamical system incorporating a timer triggering the occurrence of the sampling events and two memory states storing the value of the controller state and controller output at each sampling time. Necessary and sufficient conditions on the controller parameters are given to establish the sought property. A constructive controller design algorithm based on sum-of-squares programming is given. A numerical example illustrates the effectiveness of the approach.