Feedback limitations in nonlinear systems: from Bode integrals to cheap control
journal contribution
posted on 2025-05-11, 07:36 authored by Maria SeronMaria Seron, Julio BraslavskyJulio Braslavsky, P. V. Kototović, D. Q. MayneFeedback limitations of nonlinear systems are investigated using the cheap control approach. The main result is that in the limit, when the control effort is free, the smallest achievable L₂ norm of the output is equal to the least amount of control energy (L₂ norm) needed to stabilize the unstable zero dynamics. This nonlinear result is structurally similar to an earlier linear result by Qiu and Davison (1993), which, in turn, is connected with a Bode-type integral derived by Middleton (1991).
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Journal title
IEEE Transactions on Automatic ControlVolume
44Issue
4Pagination
829-833Publisher
Institute of Electrical and Electronics Engineers (IEEE)Language
- en, English
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Faculty of Engineering and Built EnvironmentSchool
School of EngineeringRights statement
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