Integral Control Design using the Implicit Lyapunov Function Approach

Angel Mercado-Uribe (1) , Jaime Moreno (1) , Andrey Polyakov (2) , Denis Efimov (2)

1 UNAM - Universidad Nacional Autónoma de México = National Autonomous University of Mexico
2 VALSE - Finite-time control and estimation for distributed systems

In this paper, we design homogeneous integral controllers of arbitrary non positive homogeneity degree for a system in the normal form with matched uncer-tainty/perturbation. The controllers are able to reach finite-time convergence, rejecting matched constant (Lipschitz, in the discontinuous case) perturbations. For the design, we use the Implicit Lyapunov Function method combined with an explicit Lyapunov function for the addition of the integral term.

Domaines: Automatique

Angel Mercado-Uribe, Jaime Moreno, Andrey Polyakov, Denis Efimov. Integral Control Design using the Implicit Lyapunov Function Approach. 58th IEEE Conference on Decision and Control, Dec 2019, Nice, France. ⟨hal-02371919⟩