PYIA: Robust Controller Design for Systems with Nonsmooth Nonlinearities

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Many physical systems require nonsmooth mathematical models to capture their dynamical behavior accurately and easily. The nonsmooth characteristics may arise due to specific system elements such as relays, saturation, dead zone, backlash or they may result from a simplification in the modelling process. In many applications, these nonsmooth nonlinearities are the major stumbling-block to model reduction, stability analysis, and control design. New methods will be developed to analyze and design control systems with nonsmooth dynamics. Model reduction techniques such as singular perturbation theory will be extended to handle these types of systems. Both the stability criteria and the control design procedures will be investigated to analyze specific nonsmooth characteristics. The characteristics targeted will include both continuous and discontinuous nonlinearities and those found in power systems and in interconnected flexible structures.