Stability analysis for systems with saturation and backlash in the loop

Sophie Tarbouriech (1) , Isabelle Queinnec (1) , Christophe Prieur (2)

1 LAAS-MAC - Équipe Méthodes et Algorithmes en Commande
2 GIPSA-SYSCO - GIPSA - Systèmes non linéaires et complexité

This paper deals with the stability analysis problem for linear systems with saturation and backlash in the loop. The resulting system controlled by a static output feedback is a dynamical model with nested backlash and saturation operators. Uniform ultimate boundedness stability is tackled in a regional (local) or global context depending on the stability property of the open-loop system. Suitable regions of the state space in which the closed-loop trajectories can be captured are characterized, together with estimates of the basin of attraction of such regions. Convex optimization problems are proposed in order to give a constructive solution (in the sense of theoretical conditions associated to numerical procedures).

Domaines: Automatique / Robotique

Sophie Tarbouriech, Isabelle Queinnec, Christophe Prieur. Stability analysis for systems with saturation and backlash in the loop. CDC 2013 - 52nd IEEE Conference on Decision and Control, Dec 2013, Florence, Italy. pp.6652-6657. ⟨hal-00926128⟩