2003/07/11 by Dragan Nešić, Dragan Nesic, Antonio Loria +3
Computer Science · Engineering · Mathematics · #37C60 #37C75 #Distributed Control Multi-Agent Systems #Dynamical Systems (math.DS) #FOS: Mathematics #Optimization and Control (math.OC) #Stability and Control of Uncertain Systems #Stability and Controllability of Differential Equations #math.DS #math.OC #msc:37C60 #msc:37C75
paper · pdf · doi:10.48550/arxiv.math/0307167
arxiv created 2003/07/11 · openalex publication_date 2003/07/11 · arxiv updated 2009/12/01 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
Recently, a framework for controller design of sampled-data nonlinear systems via their approximate discrete-time models has been proposed in the literature. In this paper we develop novel tools that can be used within this framework and that are very useful for tracking problems. In particular, results for stability analysis of parameterized time-varying discrete-time cascaded systems are given. This class of models arises naturally when one uses an approximate discrete-time model to design a stabilizing or tracking controller for a sampled-data plant. While some of our results parallel their continuous-time counterparts, the stability properties that are considered, the conditions that are imposed and the the proof techniques that are used are tailored for approximate discrete-time systems and are technically different from those in the continuous-time context. We illustrate the utility of our results in the case study of the tracking control of a mobile robot. This application is fairly illustrative of the technical differences and obstacles encountered in the analysis of discrete-time parameterized systems.