PI-control for nonlinear systems with multiple equilibria via 2-contraction
In this paper, we study the set-point tracking problem for nonlinear systems for which tracking is possibly achievable on multiple equilibria. We first show that designing a controller enforcing 2-contraction is sufficient to solve this problem, provided that trajectories remain bounded. Then, we focus on unitary relative degree systems in normal form, and we design a controller using high-gain tools. We provide sufficient conditions to solve the problem, under the assumption that the zero dynamics is weakly non-minimum phase and 2-contractive. We validate our design on a frequency set-point tracking problem taken from power systems.
Authors
- Mattia Giaccagli (ORCID: https://orcid.org/0000-0003-3073-6900)
- Daniele Astolfi (ORCID: https://orcid.org/0000-0003-2690-7420)
- Vincent Andrieu (ORCID: https://orcid.org/0000-0003-1877-6205)
- Pietro Lorenzetti
Institutions
- Université Claude Bernard Lyon 1 (FR)
- Centre National de la Recherche Scientifique (FR)
- Technical University of Cluj-Napoca (RO)
- Centre de Recherche en Automatique de Nancy (FR)
- Laboratoire d'Automatique, de Génie des Procédés et de Génie Pharmaceutique (FR)
- École d'Ingénieurs en Chimie et Sciences du Numérique (FR)
- Université de Lorraine (FR)
Publication Details
- Journal
- IFAC-PapersOnLine
- Published
- 2025-01-01
- DOI
- https://doi.org/10.1016/j.ifacol.2025.11.070
- Primary Topic
- Control and Stability of Dynamical Systems
- Type
- article
- Field-Weighted Citation Impact
- 0.00