Reference tracking and transient response shaping of uncertain quasi one-sided Lipschitz nonlinear systems

Abstract

This work addresses the reference tracking problem for uncertain systems with quasi one-sided Lipschitz nonlinearity. The uncertainty is assumed to be of a norm bound parametric type. Moreover, transient response shaping using the concept of ‘return time’ is also proposed. The controller design relies on the solution of Linear Matrix Inequalities (LMIs) and hence is computationally efficient. The proposed control law is linear in states, and thus the implementation is often straightforward. To illustrate the capability and simplicity of the proposed theory, three design examples are included.