Abstract:
In this letter, based on the theory developed, a nonlinear optimal controller is designed via stable manifold theory making use of Lagrange multipliers to take into accou...Show MoreMetadata
Abstract:
In this letter, based on the theory developed, a nonlinear optimal controller is designed via stable manifold theory making use of Lagrange multipliers to take into account a class of system constraints. A feature of this method is that a discontinuous Hamiltonian system has to be solved. The existence and uniqueness of solutions of the Hamiltonian system are proven in this letter with a discussion on the stability of the designed controller. The effectiveness of the method is experimentally validated on a Quanser magnetic levitation system. The result shows that the designed nonlinear controller is able to handle the acceleration constraints with better
Published in: IEEE Control Systems Letters ( Volume: 1, Issue: 2, October 2017)