Abstract
Nonlinear PD (NPD) control is implemented by allowing the proportional and derivative controller gains to vary as a function of system state. NPD control has been previously described and implemented, and recently a constructive Lyapunov stability proof has been given. In the present work NPD controllers which operate without knowledge of some state variables are demonstrated. The controllers fall within previously established stability results. New results provide necessary and sufficient conditions for the existence of an NPD control design which is independent of some state variables, as well as the means to construct such a controller.
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