CONTROL OF NONLINEAR SYSTEMS IN REGIONS OF STATE SPACE.
Abstract
Recently, a nonlinear controllability theory based upon Liapunov-like notions was developed. In this paper the theory is generalized and strengthened, and a wider class of nonlinear systems is considered. In particular, conditions for controllability of a dynamic system which is subject to state variable inequality constraints are obtained. It is shown that initial conditions which are interior to a certain ellipse can be made to generate trajectories which remain in that ellipse and which reach the desired terminal state. When the ellipse is a subset of the feasible region of state space the trajectory clearly remains in this region (i.e. the state variable inequality constraints are satisfied). A design procedure for finding the largest such ellipse is given, and illustrative examples are presented. In addition, stabilization of constrained dynamic systems is considered. (Author)
Document Details
- Document Type
- Technical Report
- Publication Date
- Jan 01, 1970
- Accession Number
- AD0703660
Entities
People
- David H. Jacobson
- Stanley B. Gershwin
Organizations
- Harvard University