PYIA: Robust Controller Design for Systems with Nonsmooth Nonlinearities

许多物理系统需要非光滑的数学模型来准确而容易地捕捉它们的动态行为。非光滑特性可能是由于继电器、饱和、死区、间隙等特定系统元件引起的，也可能是由于建模过程中的简化造成的。在许多应用中，这些非光滑非线性是模型降阶、稳定性分析和控制设计的主要绊脚石。为分析和设计具有非光滑动态的控制系统提供了新的方法。模型降阶技术，如奇异摄动理论，将扩展到处理这些类型的系统。稳定性准则和控制设计过程都将被研究，以分析特定的非光滑特性。目标特征将包括连续和不连续的非线性以及电力系统和相互关联的柔性结构中的那些。

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.