Global stabilization of switched nonlinear systems in non-triangular form and its application |
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| Authors: | Lijun Long Jun Zhao |
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| Institution: | State Key Laboratory of Synthetical Automation for Process Industries, Northeastern University, Shenyang 110819, PR China |
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| Abstract: | This paper investigates the problem of global stabilization of switched nonlinear systems in non-triangular form whose subsystems are not assumed to be asymptotically stabilizable. The use of multiple Lyapunov functions (MLFs) method permits removal of a common restriction in which the nonlinear structures in the non-switched nonlinear systems are restricted to a triangular structure when applying backstepping. Using the MLFs method and the adding a power integrator technique, we design state-feedback controllers for individual subsystems and construct a switching law to guarantee asymptotic stability of the closed-loop switched system. As an application of the proposed design method, the global stabilization problem of a continuously stirred tank reactor (CSTR) system and two inverted pendulums which cannot be handled by the existing methods is investigated. |
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