Overlapping Decentralized Dynamic Controller Design for Nonlinear Systems

Inclusion and extension principles are defined for nonlinear time-invariant (NLTI) systems. These systems are assumed to be controlled by dynamic NLTI controllers and, thus, contractibility of such controllers is also discussed. It is shown that such a controller can always be contracted if the principle of extension is used. Design of overlappingly decentralized dynamic NLTI controllers within the framework of extension is then presented. It is shown that, when this approach is used, stability of the closed-loop system is assured.