Robust nonlinear state-feedback control of second-order systems
<|reference_start|>Robust nonlinear state-feedback control of second-order systems: This note proposes a novel nonlinear state feedback controller for perturbed second-order systems. In analogy to a linear proportional-derivative (PD) output feedback control, the proposed nonlinear scheme uses the output state of interest and its time derivative for a robust finite-time regulation. The control has only one free design parameter, and the closed-loop system is shown to be uniformly asymptotically stable in the presence of matched disturbances. We derive a strict Lyapunov function for the closed control loop with a bounded exogenous perturbation, and use it for both the control tuning and analysis of the finite-time convergence. Apart from the numerical results, a revealing experimental example is also shown in favor of the proposed control and in comparison with PD and sub-optimal nonlinear damping regulators.<|reference_end|>
@article{ruderman2024robust,
    title={Robust nonlinear state-feedback control of second-order systems},
    author={Michael Ruderman, Denis Efimov},
    journal={arXiv preprint arXiv:2406.14000},
    year={2024},
    archivePrefix={arXiv},
    eprint={2406.14000},
    primaryClass={math.OC cs.SY eess.SY}
}