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Integral Control Design using the Implicit Lyapunov Function Approach

Angel Mercado-Uribe 1 Jaime Moreno 1 Andrey Polyakov 2 Denis Efimov 2
1 UNAM - Universidad Nacional Autónoma de México
2 VALSE - Finite-time control and estimation for distributed systems
Inria Lille - Nord Europe, CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189
Abstract : In this paper, we design homogeneous integral controllers of arbitrary non positive homogeneity degree for a system in the normal form with matched uncer-tainty/perturbation. The controllers are able to reach finite-time convergence, rejecting matched constant (Lipschitz, in the discontinuous case) perturbations. For the design, we use the Implicit Lyapunov Function method combined with an explicit Lyapunov function for the addition of the integral term.
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https://hal.inria.fr/hal-02371919
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Submitted on : Wednesday, November 20, 2019 - 10:34:59 AM
Last modification on : Friday, December 11, 2020 - 6:44:08 PM

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  • HAL Id : hal-02371919, version 1

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Angel Mercado-Uribe, Jaime Moreno, Andrey Polyakov, Denis Efimov. Integral Control Design using the Implicit Lyapunov Function Approach. 58th IEEE Conference on Decision and Control, Dec 2019, Nice, France. ⟨hal-02371919⟩

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