LMI-Based Robust Stabilization of a Class of Input-Constrained Uncertain Nonlinear Systems with Application to a Helicopter Model

<div>Numerical simulation results obtained using the optimization algorithm in Theorem 3 for different values of the parameter <i>λ</i> and for <span class="nowrap"><svg height="11.6217pt" id="M528" style="vertical-align:-3.272881pt" version="1.1" viewbox="-0.0498162 -8.34882 44.514 11.6217" width="44.514pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M515 96L502 119C471 88 431 62 423 62C416 62 411 70 417 101C440 223 469 341 497 448H486L412 422L380 277C330 188 210 57 152 57C137 57 126 69 139 124L195 366C210 431 205 448 182 448C155 448 89 413 23 350L36 326C73 354 103 376 112 376C118 376 118 365 113 340L61 118C54 90 52 68 52 51C52 0 75 -12 98 -12S151 -3 181 17C242 58 305 119 362 193H364L345 104C323 3 339 -12 359 -12C390 -12 464 35 515 96Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,6.929,3.132)"><path d="M797 0V26C739 32 732 36 732 103V296C732 394 682 449 605 449C576 449 550 437 529 423C504 407 475 389 446 366C425 418 382 449 334 449C303 449 279 437 253 421C222 403 201 385 180 371V452C135 432 85 419 41 411V388C99 379 102 374 102 310V103C102 38 93 32 27 26V0H238V26C189 32 180 38 180 103V338C210 363 250 390 289 390C351 390 377 348 377 275V103C377 37 368 32 306 26V0H520V26C465 32 456 38 456 101V296C456 314 455 326 453 338C491 369 529 390 565 390C628 390 653 345 653 274V107C653 36 642 32 583 26V0H797Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,14.354,3.132)"><path d="M433 39L423 65C413 59 399 54 387 54C370 54 352 69 352 114V299C352 352 342 392 307 422C285 440 255 449 225 449C168 437 102 399 75 379C56 365 44 353 44 339C44 315 69 296 87 296C101 296 111 303 116 319C124 349 133 371 145 385C156 397 171 404 190 404C241 404 275 364 275 291V274C253 256 180 229 120 209C65 190 39 159 39 110C39 47 88 -12 159 -12C189 -12 237 25 277 52C282 35 288 21 301 8C312 -3 333 -12 348 -12L433 39ZM275 84C256 65 221 48 195 48C164 48 124 73 124 124C124 161 146 180 185 198C206 208 254 229 275 240V84Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,18.349,3.132)"><path d="M474 0V26C414 34 401 43 364 100L267 248C300 297 324 332 345 358C381 400 394 405 455 411V437H272V411C316 406 323 401 305 370C287 337 267 306 247 276L188 369C169 397 173 405 215 411V437H16V411C71 404 83 396 114 348L201 212C171 167 144 127 116 92C77 42 66 34 4 26V0H190V26C139 34 136 43 156 77C175 113 198 150 220 183L294 66C311 39 302 31 260 26V0H474Z"></path></g><g transform="matrix(.013,0,0,-0.013,26.834,0)"><path d="M535 323V373H52V323H535ZM535 138V188H52V138H535Z"></path></g><g transform="matrix(.013,0,0,-0.013,38.096,0)"><path d="M384 0V27C293 34 287 42 287 114V635C232 613 172 594 109 583V559L157 557C201 555 205 550 205 499V114C205 42 199 34 109 27V0H384Z"></path></g></svg>.</span></div>

Complexity

tab1

Table 1

Table 1: LMI-Based Robust Stabilization of a Class of Input-Constrained Uncertain Nonlinear Systems with Application to a Helicopter Model 