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Title
Japanese:多入力非線形システムに対する位相面における幾何学的考察に基づく非線形制御とその応用 
English:Application of Nonlinear Controller Design Based on a Geometric Consideration in the Phase Plane Behavior for Multi Input Nonlinear Systems 
Author
Japanese: 鈴木洋史, 関口和真, 三平満司.  
English: Hiroshi Suzuki, Kazuma Sekiguchi, MITSUJI SAMPEI.  
Language Japanese 
Journal/Book name
Japanese:計測自動制御学会論文誌 
English: 
Volume, Number, Page Vol. 51    No. 6    pp. 430/439
Published date June 2015 
Publisher
Japanese:計測自動制御学会 
English: 
Conference name
Japanese: 
English: 
Conference site
Japanese: 
English: 
DOI https://doi.org/10.9746/sicetr.51.430
Abstract We propose the novel controller design method for multi-input nonlinear systems based on the phase plane behavior. The controller is designed to minimize the difference of two vector fields: nonlinear closed-loop vector fields and stabilized closed-loop vector fields of linear approximation with linear controller. Stability of the proposed controller is guaranteed by considering the Lyapunov function on the phase plane. Furthermore, as application, we propose controlling methods based on evaluation functions. The effectiveness is illustrated by numerical simulation.

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