Abstract:

This paper focuses on uncertain pendulum-like systems subject to norm constraint structured uncertainties, and addresses the robust gradient-like behaviour analysis and synthesis problems for such systems. By applying the structured singular value of an operator to structured uncertainty, the results on robust analysis for the gradient-like behaviour of uncertain pendulum-like systems are obtained. Based on the analysis results, using KYP lemma, a dynamic output feedback controller for the closed loop system guaranteeing gradient-like behaviour is designed and the controller parameters are explicitly expressed by a set of feasible solutions of corresponding linear matrix inequalities. Finally two numerical examples are presented to demonstrate the applicability and validity of the proposed approach.

Keywords: pendulum-like system; structured uncertainty; gradient-like behaviour

Document Type: Research article

DOI: 10.1080/00207170801993413

Affiliations: 1: Key Laboratory for Turbulence and Complex Systems, Department of Mechanics and Engineering Science, Peking University, Beijing, P.R. China