Passivity-based Feedback Design for Polynomial Control Systems (Passivitätsbasierter Reglerentwurf für polynomiale Systeme)

Christian Ebenbauer, Tobias Raff, Frank Allgöwer

Abstract: This paper proposes a simple computer-aided feedback design strategy for polynomial control systems. The design strategy is based on passivity and semidefinite programming, two well-established concepts from control theory and optimization. The combination of these two concepts leads to a physically motivated feedback design strategy which can be efficiently and reliably solved on a computer. In particular, this paper addresses the problem of designing globally stabilizing feedbacks via state feedback passivation and via dynamic output feedback passivation using semidefinite programming and the sum of squares decomposition.