Control of uncertain dynamical systems via Lyapunov

ABSTRACT Master Thesis CONTROL OF UNCERTAIN DYNAMICAL SYSTEMS VIA LYAPUNOV METHOD ihsan BAYIR Fırat University Graduate School of Natural and Applied Sciences Department of Electrical and Electronics Engineering 2003, Page : 77 In this study, a method is given to control dynamical systems with matched uncertainity by constrained control signal. In advance, the bounds of uncertainity and the limitation of control signal are known. Since the control signal law is obtained by employing Lyapunov method, asymptotic stability of closed loop is achived. Control signals contains three parts; a low gain linear controller for stabilizing the closed loop system, a nonlinear controller, on-off, meet the effects of uncertainity, and a linear controller to achive desired time responce performance. In order to design controller a procedure is given to highlight the design steps. The effectiveness of the controller is shown by considering a system which the uncertainity varied with time. Thus, the robustness of the closed loop system is observed. Keywords : Linear control, nonlinear control, saturated control, Lyapunov' s method and controller, uncertain systems. VIII