Understanding the Capability of PD Control for Uncertain Stochastic Systems
Abstract
In this article, we focus on the global stabilizability problem for a class of second order uncertain stochastic control systems, where both the drift term and the diffusion term are nonlinear functions of the state variables and the control variables. We will show that the widely applied proportional-derivative(PD) control in engineering practice has the ability to globally stabilize such systems in the mean square sense, provided that the upper bounds of the partial derivatives of the nonlinear functions satisfy a certain algebraic inequality. It will also be proved that the stabilizing PD parameters can only be selected from a two dimensional bounded convex set, which is a significant difference from the existing literature on PD controlled uncertain stochastic systems. Moreover, a particular polynomial on these bounds is introduced, which can be used to determine under what conditions the system is not stabilizable by the PD control, and thus demonstrating the fundamental limitations of PD control.
Cite
@article{arxiv.2205.04914,
title = {Understanding the Capability of PD Control for Uncertain Stochastic Systems},
author = {Cheng Zhao and Yanbin Zhang},
journal= {arXiv preprint arXiv:2205.04914},
year = {2022}
}