Robust stability and evaluation of the quality functional for nonlinear control systems

摘要

We develop new methods of robust stability analysis for equilibrium states and optimization of nonlinear feedback control systems. For a family of nonlinear systems with uncertain matrices of coefficients and measurable output feedback we formulate sufficient stability conditions for the zero state with a general quadratic Lyapunov function. We propose a solution for the general robust stabilization and estimation problem for a quadratic performance index for a family of nonlinear systems. We show an example of a stabilization system for a single-link robot manipulator.