A robust stabilization problem by means of continuous time-varying feedback for systems in power form is addressed. A Lyapunov based direct discrete-time design achieving input-to-state stability in a semiglobal practical sense for a discrete-time model of the system is presented. Two examples are presented to test the performance of the controller obtained using our design, in comparison with a controller obtained by emulation of a class of homogeneous controllers that are based on a similar construction.
|Publication status||Published - 2005|
|Event||16th IFAC World Congress - Prague, Czech Republic|
Duration: 3 Jul 2005 → 8 Jul 2005
|Conference||16th IFAC World Congress|
|Period||3/07/05 → 8/07/05|
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- Discrete-time systems
- Input-to-state stability
- Lyapunov function
- Nonholonomic systems
- Power form
- Time-varying systems