Design of a Class of Nonlinear Controllers via State Dependent Riccati Equations

Evrin B. Erdem, Andrew G. Alleyne

Research output: Contribution to journalArticlepeer-review

93 Scopus citations


In this brief, infinite-horizon nonlinear regulation of second-order systems using the State Dependent Riccati Equation (SDRE) method is considered. By a convenient parametrization of the A(x) matrix, the state-dependent algebraic Riccati equation is solved analytically. As a result, the closed-loop system equations are obtained in analytical form. Global stability analysis is performed by a combination of Lyapunov analysis and LaSalle's Principle. Accordingly, a relatively straightforward condition for global asymptotic stability of the closed-loop system is derived. This is one of the first global results available for this class of systems controlled by SDRE methods. The stability results are demonstrated on an experimental magnetic levitation setup and are found to provide a great deal of flexibility in the control system design.

Original languageEnglish (US)
Pages (from-to)133-137
Number of pages5
JournalIEEE Transactions on Control Systems Technology
Issue number1
StatePublished - Jan 2004
Externally publishedYes


  • Magnetic levitation
  • nonlinear control design
  • State Dependent Riccati Equation (SDRE)


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