Abstract
This paper concerns with Direct Gradient Descent Control (DGDC) of nonlinear systems. DGDC manipulates control inputs directly so as to decrease a performance function like the squared error, based on the gradient of the performance function and the steepest descent method. The convergence speed or the asymptotical stability of DGDC is improved by considering the time derivative of the performance function. Namely, in order to improve the convergence, we modify the DGDC by decreasing both the performance function and its time derivative. The proposed method can be implemented in a very simple and practical manner. Our simulation results with the modified DGDC showed remarkably good performance for various plants.KeywordsNonlinear control systemdynamic state feedback controlsteepest descent methodperformance based stabilizing control
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