Input-to-state stability and inverse optimality of predictor feedback for multi-input linear systems

• Autores: Xiushan Cai-, Nikolaos Bekiaris Liberis, Miroslav Krstić
• Localización: Automatica: A journal of IFAC the International Federation of Automatic Control, ISSN 0005-1098, Nº. 103, 2019, págs. 549-557
• Idioma: inglés
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• Resumen

  • For the “exact” predictor-feedback control design, recently introduced by Tsubakino, Krstic, and Oliveira for multi-input linear systems with distinct input delays, we establish input-to-state stability, with respect to additive plant disturbances, as well as robustness to constant multiplicative uncertainties affecting the inputs. We also show that the exact predictor-feedback controller is inverse optimal with respect to a meaningful differential game problem. Our proofs capitalize on the availability of a backstepping transformation, which is formulated appropriately in a recursive manner. An example, computed numerically, is provided to illustrate the validity of the developed results.