Control System with High Robust Stability Characteristics Based on Catastrophe Function

Abstract

This paper briefly describes an approach to assure robustness of a dynamic system. Its primary focus is on robust stability, not robust performance, in the presence of parameter variations and model uncertainties. The proposed control scheme makes use of catastrophe functions with three control factors and two behavior axes. Based on our analysis, the paper presents the conditions for converging to an equilibrium point and explains how to implement a controller to achieve robust stability. As a practical case, design of a control system for a robotic manipulator and the corresponding numerical simulations are presented. The results indicate that the range of robust stability can be extended using the proposed approach.