Systematical Design and Stability Analysis of Global Control for a Class of Nonlinear Systems

Abstract

This paper presents the systematical global control approach to further improve the feasibility of nonlinear systems control. A class of nonlinear system is represented by global system models and global controller can be obtained by utilizing the proposed design procedure. The main idea of global control is first to decompose the nonlinear systems into partial subspaces, where the partial controllers are respectively designed. Then the global control law is then constructed by combining all the control actions through the partial membership functions. Moreover, the global stability conditions of nonlinear systems are simplified as the stabilization of partial models in terms of Lyapunov functions. The design methodology is illustrated by application to the cart and pole system.