Necessary and sufficient stability conditions for equilibria of linear SISO feedbacks with a play operator - LAAS - Laboratoire d'Analyse et d'Architecture des Systèmes Accéder directement au contenu
Communication Dans Un Congrès Année : 2016

Necessary and sufficient stability conditions for equilibria of linear SISO feedbacks with a play operator

Résumé

We consider the feedback interconnection of a strictly proper single input single output plant with a play (equivalently backlash) operator. Under the standard assumption that the linear feedback is exponentially stable we characterize the set of equilibria of the arising nonlinear closed-loop system and show that it is a bounded set containing the origin. Then we provide necessary and sufficient conditions for global exponential stability of this set, that correspond to exponential stability of the open-loop dynamics. We prove our main result by proposing a novel model for the play operator, corresponding to a constrained differential inclusion. With this representation, we also show that the nonlinear closed loop under consideration can be projected to a subspace where it evolves like a switching linear system. We illustrate our results by some numerical simulations illustrating a few possible scenarios.

Dates et versions

hal-01851147 , version 1 (29-07-2018)

Identifiants

Citer

M. Cocetti, Luca Zaccarian, F. Bagagiolo, E. Bertolazzi. Necessary and sufficient stability conditions for equilibria of linear SISO feedbacks with a play operator. IFAC Symposium on Nonlinear Control Systems (NOLCOS), Aug 2016, Monterey, United States. pp.211 - 216, ⟨10.1016/j.ifacol.2016.10.165⟩. ⟨hal-01851147⟩
42 Consultations
0 Téléchargements

Altmetric

Partager

Gmail Facebook X LinkedIn More