scholarly journals Semi-Global Practical Stabilization and Disturbance Adaptation for an Underactuated Ship

2001 ◽  
Vol 22 (2) ◽  
pp. 89-101 ◽  
Author(s):  
Kristin Y. Pettersen ◽  
Henk Nijmeijer
Keyword(s):  
Underactuated Ship ◽  
Disturbance Adaptation ◽  
Practical Stabilization

On the Practical Stability of Incorporating Integral Compensation Into the Low-and-High Gain Control for a Class of Systems With Norm-Type Input Saturation

2008 ◽  
Vol 130 (3) ◽  
Author(s):  
Shou-Tao Peng
Keyword(s):  
Input Saturation ◽  
Gain Control ◽  
High Gain ◽  
Output Regulation ◽  
Practical Stability ◽  
Design Parameters ◽  
Linear Matrix ◽  
Control Input ◽  
Chattering Effect ◽  
Practical Stabilization

This paper studies the practical stability of incorporating integral compensation into the original low-and-high gain feedback law. The motivation for the incorporation is for achieving output regulation in the presence of constant disturbances without the use of a very large high-gain parameter required in the original approach. Due to numerical accuracy, the employment of very large high-gain parameters to eliminate steady-state error has the potential for inducing undesirable chattering effect on the control signal. A set of linear matrix inequalities is formulated in this study to obtain the related design parameters, by which the incorporation can achieve both the practical stabilization and asymptotic output regulation in the presence of input saturation and constant disturbances. Furthermore, the saturation of the control input can be shown to vanish in finite time during the process of regulation. Numerical examples are given to demonstrate the effectiveness of the proposed approach.

Practical Stabilization of the Drilling System

2015 ◽  
pp. 199-224
Author(s):  
Martha Belem Saldivar Márquez ◽  
Islam Boussaada ◽  
Hugues Mounier ◽  
Silviu-Iulian Niculescu
Keyword(s):  
Drilling System ◽  
Practical Stabilization
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