Globally stabilizing second order nonlinear systems by SDRE control

E. B. Erdem, A. G. Alleyne

Research output: Contribution to journalConference articlepeer-review

31 Scopus citations


Infinite-horizon nonlinear regulation of second order systems using the State Dependent Ricatti Equation (SDRE) method is considered. By a convenient parametrization of the A(x) matrix, the state-dependent algebraic Ricatti equation is solved analytically. Thus, the closed-loop system equations are obtained in analytical form. Global stability analysis is performed by the second method of Lyapunov. By the aforementioned parametrization, it is sufficient for the Lyapunov function derivative to be negative semi-definite to achieve global asymptotic stability. Accordingly, a relatively simple condition for global asymptotic stability of the closed-loop system is derived. Two illustrative examples are included.

Original languageEnglish (US)
Pages (from-to)2501-2505
Number of pages5
JournalProceedings of the American Control Conference
StatePublished - 1999
Externally publishedYes
EventProceedings of the 1999 American Control Conference (99ACC) - San Diego, CA, USA
Duration: Jun 2 1999Jun 4 1999


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