This paper deals with the extension to sampled-data stabilization of strict feedback dynamics of the Immersion and Invariance procedure proposed in Astolfi and Ortega [2003]. A direct digital approach is developed in two steps: first the target dynamics and immersion mapping are defined for the equivalent discrete-time model; then the control law is built to drive the dynamics towards the invariant manifold. A simulated example illustrates the performances.
Digital stabilization of strict feedback dynamics through immersion and invariance / Mattioni, Mattia; Monaco, Salvatore; Normand Cyrot, D.. - ELETTRONICO. - 48:11(2015), pp. 1074-1079. (Intervento presentato al convegno 1st IFAC Conference on Modelling, Identification and Control of Nonlinear Systems 2015 tenutosi a Saint Petersburg; Russia nel 2015) [10.1016/j.ifacol.2015.09.336].
Digital stabilization of strict feedback dynamics through immersion and invariance
MATTIONI, MATTIA
;MONACO, Salvatore;
2015
Abstract
This paper deals with the extension to sampled-data stabilization of strict feedback dynamics of the Immersion and Invariance procedure proposed in Astolfi and Ortega [2003]. A direct digital approach is developed in two steps: first the target dynamics and immersion mapping are defined for the equivalent discrete-time model; then the control law is built to drive the dynamics towards the invariant manifold. A simulated example illustrates the performances.| File | Dimensione | Formato | |
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