Controller Reduction for Nonlinear Systems by Generalized Differential Balancing
Abstract
In this paper, we aim at developing computationally tractable methods for nonlinear model/controller reduction. Recently, model reduction by generalized differential (GD) balancing has been proposed for nonlinear systems with constant input-vector fields and linear output functions. First, we study incremental properties in the GD balancing framework. Next, based on these analyses, we provide GD LQG balancing and GD -balancing as controller reduction methods for nonlinear systems by focusing on linear feedback and observer gains. Especially for GD -balancing, we clarify when the closed-loop system consisting of the full-order system and a reduced-order controller is exponentially stable. All provided methods for controller reduction can be relaxed to linear matrix inequalities.
Cite
@article{arxiv.2111.03209,
title = {Controller Reduction for Nonlinear Systems by Generalized Differential Balancing},
author = {Yu Kawano},
journal= {arXiv preprint arXiv:2111.03209},
year = {2021}
}