Robust design of linear control laws for constrained nonlinear dynamic systems

Authors

• B. Houska and M. Diehl.

Reference

• In Proceedings of the
  18th IFAC World Congress,
  Milan, Italy, pages 13438 - 13443, September, 2011.

Abstract

In this paper we present techniques to solve robust optimal control problems for nonlinear dynamic systems in a conservative approximation. Here, we assume that the nonlinear dynamic system is affected by a time-varying uncertainty whose L-infinity norm is known to be bounded. By employing specialized explicit upper estimates for the nonlinear terms in the dynamics we propose a strategy to design a linear control law which guarantees that given constraints on the states and controls are robustly satisfied when running the system in closed-loop mode. Finally, the mathematical techniques are illustrated by applying them to a tutorial example.

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