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In this paper, we propose a control Lyapunov function (CLF)-based robust nonlinear adaptive controller for the magnetic levitation system. The proposed controller consists of a pre-feedback compensator with an adaptive control mechanism and a robust stabilizing controller. By using this controller, a gain margin for closed loop system is guaranteed. The effectiveness of the proposed controller is...
In this paper, we propose a two-step controller design method with control Lyapunov functions (CLFs) for nonlinear systems with convex input constraints. In the first step, we derive an input which minimizes the time derivative of a local CLF via nonlinear convex optimization. According to the Karush-Kuhn-Tucker condition (KKT-condition), we clarify the necessary and sufficient condition for the minimizing...
In this paper, we consider the stabilization problem of nonlinear systems subject to convex input constraints. We modify the our previous results to be applicable for actual control problems. First, we design a robust stabilizing controller that guarantees a sector margin for convex input constrained nonlinear systems. To apply the proposed controller to the actual system, we have to compute the input...
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