非线性系统理论.pdfVIP

⾮⾮线线性性系系统统理理论论

IntroductionofLyapunov-BasedControl

1AnExampleofNonlinearSystems

LinearSystem˙x=AxBu

y=Cx

(1)ithasthesuperpositionproperty.Besides,thestabilityofthelinearsystemcompletelydependsonitsparameters.

NonlinearSystem˙x=f(x,u)

y=g(x)

(2)

superpositiondoesnotholdfornonlinearsystems,andthestabilityofanonlinearsystemdependsonbothsystem

parametersandinitialconditions.

Example:Thedynamicmodelfora2-DOFoverheadcranesystem(seeFigure??)canbepresentedasfollows

M(q)¨qVm(q,˙q)˙qG(q)=u(3)

q=[x(t)θ(t)]T(4)wherex(t)