Robust control with pole assignment in a specified region for systems under parameter perturbations and its application to a nonlinear system

Abstract

This paper deals with a problem of determination of feedback gains in order to achieve required performances under linear time invariant perturbations. Based upon Lagrange multiplier method, our proposed method determines feedback gains which ensure both robust stability and robust performance for a linear uncertain system. We apply it to a nonlinear crane system control design. At first we partition the nonlinear system into some uncertain linear systems.Next we apply our proposed method to each uncertain linear systems. We can show its application is easy and consequently nonlinear crane control system can be easily designed.Finally it is shown in a numerical example that our proposed method is effective. 984T. IEE Japan, No. 8, '95