A general framework for Region of Attraction (ROA) analysis is presented. The considered system consists of the feedback interconnection of a plant with polynomial dynamics and a bounded operator. The input/output behavior of the latter is characterized using an Integral Quadratic Constraint (IQC), for which it is assumed an hard factorization holds. This formulation allows to analyze problems involving hard-nonlinearities and uncertainties, adding to the state of practice typically limited to polynomial vector fields. An iterative algorithm based on Sum of Squares optimization is proposed to compute inner estimates of the ROA. The effectiveness of this approach is demonstrated on a numerical example featuring a nonlinear closed-loop system with saturated inputs.
|Original language||English (US)|
|Title of host publication||2018 IEEE Conference on Decision and Control, CDC 2018|
|Publisher||Institute of Electrical and Electronics Engineers Inc.|
|Number of pages||6|
|State||Published - Jan 18 2019|
|Event||57th IEEE Conference on Decision and Control, CDC 2018 - Miami, United States|
Duration: Dec 17 2018 → Dec 19 2018
|Name||Proceedings of the IEEE Conference on Decision and Control|
|Conference||57th IEEE Conference on Decision and Control, CDC 2018|
|Period||12/17/18 → 12/19/18|
Bibliographical noteFunding Information:
*This work has received funding from the European Union’s Horizon 2020 research and innovation programme under grant agreement No 636307, project FLEXOP. P. Seiler also acknowledges funding from the Hungarian Academy of Sciences, Institute for Computer Science and Control.