Abstract
AbstractThis paper introduces to Error Dynamics Shaping (EDS), an original nonlinear control methodology inspired from energy-based principles, which allows a robust stabilisation of closed-loop systems despite parametric uncertainties and disturbances. This methodology provides explicit state feedback control laws with intuitive tuning parameters. Based on the early idea to try and generate dissipative closed-loops with an adjustable damping degree when controlling physical systems, EDS defines a control procedure devoted to nonlinear systems that needs no energy formulation. It only requires the knowledge of a state space model of the system to be controlled. This approach is first described in a formal way, and then illustrated through an example.
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