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Krasovskii Passivity and μ-Synthesis Controller Design for Quasi-Linear Affine Systems
2021
Energies
This paper presents an end-to-end method to design passivity-based controllers (PBC) for a class of input-affine nonlinear systems, named quasi-linear affine. The approach is developed using Krasovskii's method to design a Lyapunov function for studying the asymptotic stability, and a sufficient condition to construct a storage function is given, along with a supply-rate function. The linear fractional transformation interconnection between the nonlinear system and the Krasovskii PBC (K-PBC)
doi:10.3390/en14175571
fatcat:awhjbjgnavdqnkpxzjke4ajfem