IEEE Transactions on Automatic Control, Vol.47, No.12, 2063-2068, 2002
L-2-gain of double integrators with saturation nonlinearity
This note uses quadratic surface Lyapunov functions (SuLFs) to efficiently check if a double integrator in feedback with a saturation non-linearity has L-2-gain less than gamma > 0. We show that for many such systems, the L-2-gain is nonconservative in the sense that this is approximately equal to the lower bound obtained by replacing the saturation with a constant gain of 1. These results allow the use of classical analysis tools like mu-analysis or integral quadratic constraints to analyze systems with double integrators and saturations, including servo systems like some mechanical systems, satellites, hard disks, compact disk players, etc.
Keywords:double integrator;impact map;nonlinear robust analysis;quadratic surface Lyapunov function;saturation