Sampled-data stabilization of feedforward dynamics with Lyapunov cross-term

Mattia Mattioni (1, 2) , Salvatore Monaco (1) , Dorothée Normand-Cyrot (2)

1 UNIROMA - Università degli Studi di Roma "La Sapienza" = Sapienza University [Rome]
2 L2S - Laboratoire des signaux et systèmes

The paper addresses the problem of preserving the stabilizing performances of a continuous-time feedback under sampling. The discussion is developed with reference to a two-block feedforward system whose equilibrium is assumed globally stable. The design is passivity-based and exploits the construction of a Lyapunov function for the uncontrolled cascade.

Domaines: Automatique / Robotique

Mattia Mattioni, Salvatore Monaco, Dorothée Normand-Cyrot. Sampled-data stabilization of feedforward dynamics with Lyapunov cross-term. 55th IEEE Conference on Decision and Control (CDC 2016), IEEE, Dec 2016, Las Vegas, United States. pp.1322 - 1327, ⟨10.1109/CDC.2016.7798449⟩. ⟨hal-01484955⟩