Stephan Trenn

Tracking control: performance funnels and prescribed transient behaviour

Abstract Tracking of a reference signal (assumed bounded with essentially bounded derivative) is considered in the context of a class of nonlinear systems, with output y, described by functional differential equations (a generalization of the class of linear minimum-phase systems of relative degree one with positive high-frequency gain). The primary control objective is tracking with prescribed accuracy: given λ > 0 (arbitrarily small), determine a feedback strategy which ensures that for every admissible system and reference signal, the tracking error e = y - r is ultimately smaller than λ (that is, ∥ e ( t ) ∥ λ for all t sufficiently large). The second objective is guaranteed transient performance: the evolution of the tracking error should be contained in a prescribed performance funnel F . Adopting the simple non-adaptive feedback control structure u ( t ) = - k ( t ) e ( t ) , it is shown that the above objectives can be attained if the gain is generated by the nonlinear, memoryless feedback k ( t ) = K F ( t , e ( t ) ) , where K F is any continuous function exhibiting two specific properties, the first of which ensures that if ( t , e ( t ) ) approaches the funnel boundary, then the gain attains values sufficiently large to preclude boundary contact, and the second of which obviates the need for large gain values away from the funnel boundary.

Brief paper: Switched nonlinear differential algebraic equations: Solution theory, Lyapunov functions, and stability

We study switched nonlinear differential algebraic equations (DAEs) with respect to existence and nature of solutions as well as stability. We utilize piecewise-smooth distributions introduced in earlier work for linear switched DAEs to establish a solution framework for switched nonlinear DAEs. In particular, we allow induced jumps in the solutions. To study stability, we first generalize Lyapunovs direct method to non-switched DAEs and afterwards obtain Lyapunov criteria for asymptotic stability of switched DAEs. Developing appropriate generalizations of the concepts of a common Lyapunov function and multiple Lyapunov functions for DAEs, we derive sufficient conditions for asymptotic stability under arbitrary switching and under sufficiently slow average dwell-time switching, respectively.

On stability of linear switched differential algebraic equations

This paper studies linear switched differential algebraic equations (DAEs), i.e., systems defined by a finite family of linear DAE subsystems and a switching signal that governs the switching between them. We show by examples that switching between stable subsystems may lead to instability, and that the presence of algebraic constraints leads to a larger variety of possible instability mechanisms compared to those observed in switched systems described by ordinary differential equations (ODEs). We prove two sufficient conditions for stability of switched DAEs based on the existence of suitable Lyapunov functions. The first result states that a common Lyapunov function guarantees stability under arbitrary switching when an additional condition involving consistency projectors holds (this extra condition is not needed when there are no jumps, as in the case of switched ODEs). The second result shows that stability is preserved under switching with sufficiently large dwell time.

Switched Differential Algebraic Equations

In this chapter, an electrical circuit with switches is modelled as a switched differential algebraic equation (switched DAE), i.e. each mode is described by a DAE of the form Ex′=Ax+Bu where E is, in general, a singular matrix and u is the input. The resulting time-variance follows from the action of the switches present in the circuit, but can also be induced by faults occurring in the circuit. In general, switches or component faults induce jumps in certain state-variables, and it is common to define additional jump-maps based on physical arguments. However, it turns out that the formulation as a switched DAE already implicitly defines these jumps, no additional jump-map must be given. In fact, an easy way to calculate these jumps will be presented in terms of the consistency projectors. It turns out that general switched DAEs can have not only jumps in the solutions but also Dirac impulses and/or their derivatives. In order to capture this impulsive behaviour, the space of piecewise-smooth distributions is used as an underlying solution space. With this underlying solution space it is possible to show existence and uniqueness of solutions of switched DAEs (including the uniqueness of the jumps induced by the switches). With the help of the consistency projector a condition is formulated whether a switch (or fault) can induce jumps or even Dirac impulses in the solutions. Furthermore, stability of the switched DAE is studied; again the consistency projectors play an important role.

Regularity of distributional differential algebraic equations

Time-varying differential algebraic equations (DAEs) of the form

Funnel control for systems with relative degree two

{E\dot{x}=Ax+f}

On observability of switched differential-algebraic equations

are considered. The solutions x and the inhomogeneities f are assumed to be distributions (generalized functions). As a new approach, distributional entries in the time-varying coefficient matrices E and A are allowed as well. Since a multiplication for general distributions is not possible, the smaller space of piecewise-smooth distributions is introduced. This space consists of distributions which could be written as the sum of a piecewise-smooth function and locally finite Dirac impulses and derivatives of Dirac impulses. A restriction can be defined for the space of piecewise-smooth distributions, this restriction is used to study DAEs with inconsistent initial values; basically, it is assumed that some past trajectory for x is given and the DAE is activated at some initial time. If this initial trajectory problem has a unique solution for all initial trajectories and all inhomogeneities, then the DAE is called regular. This generalizes the regularity for classical DAEs (i.e. a DAE with constant coefficients). Sufficient and necessary conditions for the regularity of distributional DAEs are given.

Solution Concepts for Linear DAEs: A Survey

This paper presents an analytical framework for detecting the presence of jumps and impulses in the solutions of switched differential algebraic equations (switched DAEs). The framework can be applied in the early design stage of fault-tolerant power electronics systems to identify design flaws that could jeopardize its reliability. The system is described by a switched differential algebraic equation, accounting for both fault-free system configurations and the configurations that arise after component faults, where each configuration p is defined by a pair of matrices (Ep;Ap). For each configuration p, the so called consistency projector is obtained from the pair (Ep;Ap). Based on the consistency projectors of all possible configurations, conditions for impulse-free and jump-free solutions of the switched DAE are established. A case-study of a dual redundant buck converter is presented to illustrate the framework.