Abstract
The state-dependent Riccati equation (SDRE) approach to nonlinear system stabilization relies on representing a nonlinear system's dynamics in a manner to resemble linear dynamics, but with state-dependent coefficient matrices that can then be inserted into state-dependent Riccati equations to generate a feedback law. Although stability of the resulting closed-loop system need not be guaranteed a priori, simulation studies have shown that the method can often lead to suitable control laws. In this note, we consider the nonuniqueness of state-dependent representations. In particular, we show that if there exists any stabilizing feedback leading to a Lyapunov function with star-convex level sets, then there always exists a representation of the dynamics such that the SDRE approach is stabilizing. The main tool in the proof is a novel application of the S-procedure for quadratic forms.
Original language | English (US) |
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Pages (from-to) | 513-517 |
Number of pages | 5 |
Journal | IEEE Transactions on Automatic Control |
Volume | 48 |
Issue number | 3 |
DOIs | |
State | Published - Mar 2003 |
Externally published | Yes |
Keywords
- Gain scheduling
- Nonlinear stabilization
- Riccati equation
ASJC Scopus subject areas
- Control and Systems Engineering
- Computer Science Applications
- Electrical and Electronic Engineering