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arXiv · 2104.11414

Passive soft-reset controllers for nonlinear systems

Justin H. Le·Andrew R. Teel
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Abstract

Soft-reset controllers are introduced as a way to approximate hard-reset controllers. The focus is on implementing reset controllers that are (strictly) passive and on analyzing their interconnection with passive plants. A passive hard-reset controller that has a strongly convex energy function can be approximated as a soft-reset controller. A hard-reset controller is a hybrid system whereas a soft-reset controller corresponds to a differential inclusion, living entirely in the continuous-time domain. This feature may make soft-reset controllers easier to understand and implement. A soft-reset controller contains a parameter that can be adjusted to better approximate the action of the hard-reset controller. Closed-loop asymptotic stability is established for the interconnection of a passive soft-reset controller with a passive plant, under appropriate detectability assumptions. Several examples are used to illustrate the efficacy of soft-reset controllers.

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Justin H. Le, Andrew R. Teel. 2021-04-23. Passive soft-reset controllers for nonlinear systems. https://arxiv.org/abs/2104.11414

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