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Analysis of Control of Nonlinear Switched Systems

Toorani, Amin | 2012

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 43495 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Zohoor, Hassan
  7. Abstract:
  8. Separate analysis of modern systems by continuous or discrete theories is not possible, because they cannot solely express the detailed descriptions of a system. As a result of this, researchers are motivated to study hybrid systems. Specific class of hybrid systems which consists of several continuous subsystems and a rule that specifies how to switch between them, is called a switched system. Recently, many studies have been done on the stability and control of switched systems. In this regard, the goal of present study is presenting applications of switched systems using two control methods. The first application is control of a chemical reactor system with multiple modes. We presented two control methods for this switched nonlinear system and its stability was analyzed in two different ways. The goal of the second application, was to apply an appropriate control method to a switched suspension system. We modeled the damper in this system as a multi-functional damper. Then, we developed a suitable controller for this switched system. In the final application, we used the mentioned damper, in a robot leg. Moreover, we controlled this system with a suitable controller, and finally we analyzed the stability of the system by multiple lyapunov function. Two fundamental concepts in the field of stability of switched systems are common and multiple lyapunov functions. So one goal of this study is to investigate and compare the exact implications of common and multiple lyapunov functions in stability analysis of nonlinear switched systems for the present applications.
  9. Keywords:
  10. Hybrid Dynamical System ; Multiple Lyapunov Function Method ; Switching Algorithm ; Common Lyapunov Function

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