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|Type:||Artigo de evento|
|Title:||Nonlinear Static Feedback Stabilization Of Linear Systems With Backlash|
|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.|
|Appears in Collections:||Unicamp - Artigos e Outros Documentos|
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