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Error Dynamics Shaping: a new robust control for nonlinear systems

Abstract : This paper introduces to Error Dynamics Shaping (EDS), an original nonlinear control methodology inspired from energy-based principles, which allows a robust stabilisation of closed-loop systems despite parametric uncertainties and disturbances. This methodology provides explicit state feedback control laws with intuitive tuning parameters. Based on the early idea to try and generate dissipative closed-loops with an adjustable damping degree when controlling physical systems, EDS defines a control procedure devoted to nonlinear systems that needs no energy formulation. It only requires the knowledge of a state space model of the system to be controlled. This approach is first described in a formal way, and then illustrated through an example.
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Submitted on : Tuesday, November 22, 2011 - 10:48:52 AM
Last modification on : Monday, October 5, 2020 - 9:50:15 AM



Pierre-Yves Richard, Hervé Cormerais. Error Dynamics Shaping: a new robust control for nonlinear systems. 18th IFAC World Congress, Aug 2011, Milan, Italy. pp.5837-5842, ⟨10.3182/20110828-6-IT-1002.01097⟩. ⟨hal-00643525⟩



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