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Mathematical Problems in Engineering
Volume 2013 (2013), Article ID 382016, 10 pages
Research Article

A Nonlinear Robust Controller Design of Lower-Triangular Systems Based on Dissipation Theory

College of Energy and Electrical Engineering, Hohai University, Nanjing 211100, China

Received 16 May 2013; Revised 11 July 2013; Accepted 21 July 2013

Academic Editor: Baoyong Zhang

Copyright © 2013 Bing Wang and Yue Yuan. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


Based on dissipation theory, a novel robust control is proposed for the lower-triangular nonlinear systems, which include strict-feedback systems and high-order lower-triangular systems. Some important concepts in dissipation theory are integrated into the recursive design, which are used to dominate the uncertain disturbance and construct the robust controller. The gotten controller renders the closed-loop system finite-gain stable in the presence of disturbance and asymptotically stable in the absence of disturbance. Especially, the controller has its advantage in regulating large disturbance. Finally, one example and one application are given to show the effectiveness of the design method. Moreover, by comparing with another robust controller, the characteristic of the proposed controller is illustrated in the simulations.