Construction of a Smooth Lyapunov Function for the Robust and Exact Second-Order Differentiator. (4th April 2016)

• Record Type: Journal Article
• Authors: Sanchez, Tonametl; Moreno, Jaime A.; Ortiz-Ricardez, Fernando A.
• Other Names: Liu Yan-Jun Academic Editor.
• Is Part Of: Mathematical problems in engineering. Volume 2016(2016)
• Publication Date: 2016-04-04
• Subjects: Engineering mathematics -- Periodicals; 510.2462
• DOI: 10.1155/2016/3740834
• Languages: English
• ISSNs: 1024-123X

Abstract

Abstract : Differentiators play an important role in (continuous) feedback control systems. In particular, the robust and exact second-order differentiator has shown some very interesting properties and it has been used successfully in sliding mode control, in spite of the lack of a Lyapunov based procedure to design its gains. As contribution of this paper, we provide a constructive method to determine a differentiable Lyapunov function for such a differentiator. Moreover, the Lyapunov function is used to provide a procedure to design the differentiator's parameters. Also, some sets of such parameters are provided. The determination of the positive definiteness of the Lyapunov function and negative definiteness of its derivative is converted to the problem of solving a system of inequalities linear in the parameters of the Lyapunov function candidate and also linear in the gains of the differentiator, but bilinear in both.