Abstract

Sum of squares (SOS) method has attracted serious interest in both stability analysis and controller design of nonlinear systems during past two decades. In this paper, we study nonlinear control of a magnetic-levitation (maglev) system using the sum of squares technique. A nonlinear state feedback controller is designed based on a fairly new stability criterion which can be viewed as a dual to Lyapunov's second theorem. This criterion has an impressive convexity property, which is used for controller design with convex optimization. The performance of the proposed method is verified via numerical simulations.

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