dx/dt = f(x, u, t) y = h(x, u, t)
This article provides a comprehensive overview of robust nonlinear control, examining its theoretical foundations, key design methodologies, and a wide range of practical applications. From the basic principles of Lyapunov's second method to advanced techniques like sliding mode control and backstepping, we explore how these tools are used to ensure system stability and performance in the face of significant uncertainty. dx/dt = f(x, u, t) y = h(x,
Drawing on game theory concepts, H-infinity control provides a frequency-domain approach to robust control that is particularly well-suited for systems with structured uncertainty and performance specifications expressed in terms of signal norms. For nonlinear systems, this approach extends to minimax design, where the controller seeks to minimize the worst-case effect of disturbances and uncertainties—reflecting a fundamentally adversarial viewpoint. For nonlinear systems, this approach extends to minimax
: Guaranteed safety even under challenging operating conditions. For nonlinear systems
Real-world systems are inherently nonlinear and unpredictable.Aerospace, robotics, and smart grids exhibit complex dynamics.Uncertainties generally fall into two distinct categories: