Stability analysis and controller synthesis for a class of piecewise smooth systems

摘要: This thesis deals with the analysis and synthesis of piecewise smooth (PWS) systems. In general, PWS systems are nonsmooth systems, which means their vector fields discontinuous functions state vector. Dynamic behavior is richer than For example, there phenomena such as sliding modes that occur only in this thesis, a Lyapunov stability theorem proved to provide theoretical framework for Piecewise affine (PWA) polynomial (PWP) then introduced important subclasses The objective propose efficient computational controller methods PWA PWP Three presented thesis. first method extends linear controllers uncertain nonlinear controllers. result maintains performance while extending its region convergence. However, problem formulated set bilinear matrix inequalities (BMIs), not easy solve. Two formulate convex problems, numerically tractable. Finally, address practical implementation issues, time-delay approach sampled-data presented. proposed calculates maximum sampling time system consisting continuous-time plant discrete-time emulation feedback controller.