2025/04/30 by Mohammad Khajenejad, Khajenejad, Mohammad · 1 citation
Computer Science · Engineering · #Adaptive Control of Nonlinear Systems #Adaptive Dynamic Programming Control #FOS: Electrical engineering #Stability and Control of Uncertain Systems #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.2504.21832
openalex publication_date 2025/04/30 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
This paper presents an optimal dynamic control framework for bounded Jacobian nonlinear discrete-time (DT) systems with nonlinear observations affected by both state and process noise. Rather than directly stabilizing the uncertain system, we focus on stabilizing an interval observer in a higher dimensional space, whose states bound the true system states. Our nonlinear dynamic control method introduces added flexibility over traditional static and linear approaches, effectively compensating for system nonlinearities and enabling potentially tighter closed-loop intervals. Additionally, we establish a separation principle that allows for the design of observer and control gains. We further derive tractable matrix inequalities to ensure system stability in the closed-loop configuration. The simulation results show that the proposed dynamic control approach significantly outperforms a static counterpart method.