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		Maiko HIRANO,Tielong SHEN,Kazuhisa ITO,Katutoshi TAMURA.[en_title][J].Control Theory and Technology,2008,6(1):45~52.[Copy]

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MaikoHIRANO,TielongSHEN,KazuhisaITO,KatutoshiTAMURA
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Received:September 10, 2007

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State feedback stabilization of cascaded nonlinear systems with discontinuous connection

Maiko HIRANO, Tielong SHEN, Kazuhisa ITO, Katutoshi TAMURA

(Department of Mechanical Engineering, Sophia University, Tokyo 102-8554 Japan;Department of Mechanical Engineering, Tottori University, Tottori 680-8552, Japan)

Abstract:

In practical engineering, many phenomena are described as a discontinuous function of a state variable,and the discontinuity is usually the main reason for the degradation of the control performance. For example, in the setpoint control problem of mechanical systems, the static friction (described by a sgn function of velocity of the contacting faces) causes undesired positioning error. In this paper, we will investigate the stabilization problem for a class of nonlinear systems that consist of two subsystems with cascaded connection.We will show the basic idea with a special case first, and then the result will be extended to more general cases. Some interesting numerical examples will be given to demonstrate the effectiveness of the proposed design approach.

Key words: Cascaded connection Discontinuous systems Filippov solution