Application of the attractive ellipsoid methodology to robust control design of a class of switched systems

Abstract

Our contribution is devoted to an application of the newly elaborated robust feedback-type control methodology to a class of industrial robotic systems. We consider a formal prototype of an automated Continuous Stirred Tank Reactor (CSTR) in the presence of bounded (operating) uncertainties and external disturbances. The nonlinear model of the CSTR has a switched nature and implies a sophisticated dynamical behaviour. Moreover, the resulting control design is supposed to be the defined only by the given system output. The robustness property of the closed-loop automated system is determined here in the sense of a “practical stability” concept and is based on the Attractive Ellipsoid (AE) approach. The implementable control design scheme we propose involves the Bilinear Matrix Inequalities (BMIs) techniques in combination with the Multiple Lyapunov functions analysis.