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Type: Artigo de evento
Title: Nonlinear Static Feedback Stabilization Of Linear Systems With Backlash
Author: Milani B.E.A.
Abstract: This paper is concerned with the nonlinear static state feedback stabilization of time-invariant linear multivariable continuous-time systems with friction driven backlash in the control inputs. A time-invariant static nonlinear state feedback compensator is proposed, easily obtainable solving an algebraic Riccati equation. The global asymptotic stability of the resulting closed-loop nonlinear system is proved using the Lyapunov's direct method and the La Salle's invariance principle. A simulation study shows that the proposed nonlinear state feedback compensator achieves an overall stabilization performance significantly better than the known backlash inverse compensator. © 2007 IEEE.
Rights: fechado
Identifier DOI: 10.1109/CDC.2007.4434322
Date Issue: 2007
Appears in Collections:Unicamp - Artigos e Outros Documentos

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