Immersion and invariance stabilization of nonlinear systems: a horizontal contraction approach,

L. Wang F. Forni Roméo Ortega 1 H. Su
1 Pôle Systèmes
L2S - Laboratoire des signaux et systèmes
Abstract : The main objective of this paper is to propose an alternative procedure to carry out one of the key steps of immersion and invariance stabilising controller design. Namely, the one that ensures attractivity of the manifold whose internal dynamics contains a copy of the desired system behaviour. Towards this end we invoke contraction theory principles and ensure the attractivity of the manifold rendering it horizontally contractive. The main advantage of adopting this alternative approach is to make more systematic the last step of the design with more explicit degrees of freedom to accomplish the task. The classical case of systems in feedback form is used to illustrate the proposed controller design
Type de document :
Communication dans un congrès
54th IEEE Conference on Decision and Control (CDC), Dec 2015, Osaka, Japan. 2015, Proceedings of the 54th IEEE Conference on Decision and Control. 〈10.1109/cdc.2015.7402684 〉
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https://hal-centralesupelec.archives-ouvertes.fr/hal-01262391
Contributeur : Myriam Baverel <>
Soumis le : mardi 26 janvier 2016 - 16:23:04
Dernière modification le : jeudi 26 avril 2018 - 15:49:26

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L2S | SUP_LSS | SUP_SYSTEMES | CENTRALESUPELEC | TDS-MACS | UNIV-PARIS-SACLAY

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L. Wang, F. Forni, Roméo Ortega, H. Su. Immersion and invariance stabilization of nonlinear systems: a horizontal contraction approach,. 54th IEEE Conference on Decision and Control (CDC), Dec 2015, Osaka, Japan. 2015, Proceedings of the 54th IEEE Conference on Decision and Control. 〈10.1109/cdc.2015.7402684 〉. 〈hal-01262391〉

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