화학공학소재연구정보센터
IEEE Transactions on Automatic Control, Vol.45, No.3, 453-461, 2000
Slow peaking and low-gain designs for global stabilization of nonlinear systems
uThis paper presents an analysis of the slow-peaking phenomenon, a pitfall of low-gain designs that imposes basic limitations to large regions of attraction in nonlinear control systems. The phenomenon is best understood on a chain of integrators perturbed by a vector field up(x, u) that satisfies p(x, 0) = 0. Because small controls (or low-gain designs) are sufficient to stabilize the unperturbed chain of integrators, it may seem that smaller controls, which attenuate the perturbation up(x, u) in a larger compact set, can be employed to achieve larger regions of attraction, This intuition is false, however, and peaking may cause a loss of global controllability unless severe growth restrictions are imposed on p(x, u), These growth restrictions are expressed as a higher order condition with respect to a particular weighted dilation related to the peaking exponents of the nominal system. When this higher order condition is satisfied, an explicit control law is derived that achieves global asymptotic stability of x = 0. This stabilization result is extended to more general cascade nonlinear systems in which the perturbation p(x, v)v, v = (xi, u)(T), contains the state xi and the control u of a stabilizable subsystem xi = a(xi, u), As an illustration, a control law is derived that achieves global stabilization of the frictionless ball-and-beam model.