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All Journal International Journal of Electrical and Computer Engineering
Arjdal, El Hanafi
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Computer Science & IT Electrical & Electronics Engineering

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Stability analysis and robust control of cyber-physical systems: integrating Jacobian linearization, Lyapunov methods, and linear quadratic regulator control via LMI techniques Boutssaid, Rachid; Aboulkassim, Abdeljabar; Kririm, Said; Arjdal, El Hanafi; Moumani, Youssef
International Journal of Electrical and Computer Engineering (IJECE) Vol 15, No 6: December 2025
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijece.v15i6.pp5276-5285

Abstract

Stability issues in cyber-physical systems (CPS) arise from the challenging effects of nonlinear dynamics relation to multi-input, multi-output systems. This research proposed a robust control framework that combines Jacobian linearization, Lyapunov stability analysis, and linear quadratic regulator (LQR) control via linear matrix inequalities (LMIs). The robust methodology does the following: it applies linearization on the dynamics of the CPS; it establishes the stability of the system using Lyapunov functions and LMIs; and it designs an LQR controller. The proposed framework was validated through a comparison between the behavior of a linearized and nonlinear model. The autonomous vehicle application showed: a settling time of 20 seconds; an overshoot of 3.8187%; and a steady-state error of 2.688×10⁻⁷. The proposed framework is robustly demonstrated and has applications to areas in automation and smart infrastructure. Future work includes optimizing the design of weighting matrices and developing adaptive control features.
Co-Authors Aboulkassim, Abdeljabar Boutssaid, Rachid Kririm, Said Moumani, Youssef