Passive soft-reset controllers for nonlinear systems
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.
Cite
@article{arxiv.2104.11414,
title = {Passive soft-reset controllers for nonlinear systems},
author = {Justin H. Le and Andrew R. Teel},
journal= {arXiv preprint arXiv:2104.11414},
year = {2021}
}