Abstract
Input-to-state stability (ISS) of a parameterized family of discrete-time time-varying nonlinear systems is investigated. A converse Lyapunov theorem for such systems is developed. We consider parameterized families of discrete-time systems and concentrate on a semiglobal practical property that naturally arises when an approximate discrete-time model is used to design a controller for a sampled-data system. Application of our main result to time-varying periodic systems is presented. This is then used to design a semiglobal practical ISS (SP-ISS) control law for the model of a wheeled mobile robot.
| Original language | English |
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| Publication status | Published - 9 May 2005 |
| Event | Asian Control Conference - Melbourne, Australia Duration: 20 Jul 2004 → 23 Jul 2004 |
Conference
| Conference | Asian Control Conference |
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| Country/Territory | Australia |
| City | Melbourne |
| Period | 20/07/04 → 23/07/04 |
Bibliographical note
The full text is currently unavailable on the repository.Keywords
- Time varying systems
- Nonlinear systems
- Control systems
- Nonlinear control systems
- Mobile robots
- Control nonlinearities
- Robust stability
- Educational institutions
- Linear systems
- Portfolios
- periodic control
- stability
- discrete time systems
- time-varying systems
- nonlinear control systems
- Lyapunov methods
- sampled data systems
- wheeled mobile robot
- input-to-state stability
- parameterized discrete-time system
- time-varying nonlinear system
- converse Lyapunov theorem
- sampled-data system
- time-varying periodic system