A sensitivity trade-off arising in small-gain design for nonlinear systems: an iISS framework

Antoine Chaillet (1) , Hiroshi Ito (2)

1 L2S - Laboratoire des signaux et systèmes
2 Kyutech - Kyushu Institute of Technology

This note investigates the trade-off arising in disturbance attenuation for nonlinear feedback systems in the framework of integral input-to-state stability. Similarly to the linear case, we show that if a gain tuning on one subsystem is used to drastically reduce the effect of its exogenous disturbances, then the other subsystem's disturbance attenuation is qualitatively the same as in open loop.

Mots clés: small gain theorem; iISS; ISS; trade-off

Domaines: Automatique / Robotique

Antoine Chaillet, Hiroshi Ito. A sensitivity trade-off arising in small-gain design for nonlinear systems: an iISS framework. 50th IEEE Conference on Decision and Control, Dec 2011, Orlando, United States. pp.1-6. ⟨hal-00652623⟩