Numerically Efficient Robustness Analysis of Trajectory Tracking for Nonlinear Systems

Tierno, Jorge E. and Murray, Richard M. and Doyle, John C. and Gregory, Irene M. (1995) Numerically Efficient Robustness Analysis of Trajectory Tracking for Nonlinear Systems. Technical Report. California Institute of Technology. [CaltechCDSTR:1995.CIT-CDS-95-032]

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Abstract

A numerical algorithm for computing necessary conditions for performance specifications is developed for nonlinear uncertain systems following a prescribed trajectory. This algorithm provides a computational efficient means of evaluating the performance of a nonlinear system in the presence of noise, real parametric uncertainty, and unmodeled dynamics. The algorithm is similar in nature and behavior to the power algorithm for the mu lower bound, and does not rely on a descent method. The algorithm is applied to two flight control examples.

EPrint Type:	Monograph (Technical Report)
Subjects:	All Records
ID Code:	14
Deposited By:	Richard M. Murray
Deposited On:	15 October 2002
Unique Identifier:	CaltechCDSTR:1995.CIT-CDS-95-032
Official Persistent URL:	http://resolver.caltech.edu/CaltechCDSTR:1995.CIT-CDS-95-032
Usage Policy:	You are granted permission for individual, educational, research and non-commercial reproduction, distribution, display and performance of this work in any format.

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