Switching Control for End Order Nonlinear Systems Using Sector Consisting of Singular Hyperplanes

특이공간으로 구성된 섹터를 이용한 2차 비선형 시스템의 스위칭 제어기 설계

In this paper, we propose a switching control method for 2nd order nonlinear systems. The main idea behind the method is changing the control law before the trajectory of the solution arrives at the singularities imposed on the denominator of the control law. We show that the control system is asymptotically stable from the fact that the sector consisting of the singular hyperplanes is an invariant set. Illustrative examples are given.