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Mohamad Noh Ahmad
Universiti Teknologi Malaysia UTM Skudai, 81310 Johor
Computer Science & IT Electrical & Electronics Engineering

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A Universal Formula for Asymptotic Stabilization with Bounded Controls Muhammad Nizam Kamarudin; Abdul Rashid Husain; Mohamad Noh Ahmad; Zaharuddin Mohamed
International Journal of Electrical and Computer Engineering (IJECE) Vol 5, No 1: February 2015
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (173.569 KB) | DOI: 10.11591/ijece.v5i1.pp111-118

Abstract

Motivated by Artstein and Sontag universal formula, this brief paper presents an explicit proof of the universal formula for asymptotic stabilization and asymptotic disturbance rejection of a nonlinear system with mismatched uncertainties and time varying disturbances. We prove the stability via Lyapunov stability criteria. We also prove that the control law satisfies small control property such that the magnitude of the control signal can be bounded without the catastropic effect to the closed loop stability. For clarity, we benchmark the proposed approach with other method namely a Lyapunov redesign with nonlinear damping function. We give a numerical example to verify the results.
Co-Authors Abdul Rashid Husain Muhammad Nizam Kamarudin Zaharuddin Mohamed