Global stabilization of a class of nonlinear system based on reduced order state feedback control

International Journal on Cybernetics & Informatics ( IJCI) Vol.3, No.1, February 2014
DOI: 10.5121/ijci.2014.3102 9
Global Stabilization of a Class of Nonlinear System
Based on Reduced-order State Feedback Control
Chang-Zhong Chen1,2,
Tao Fan1,2
, Bang-Rong Wang3
, Dong-Ming Xie1,2
and
Ping He1,2
1
School of Automation and Electronic Information, Sichuan University of Science &
Engineering, Zigong, Sichuan 643000, People’s Republic of China;
2
Artificial Intelligence Key Laboratory of Sichuan Province, Sichuan University of
Science & Engineering, Zigong, Sichuan 643000, People’s Republic of China;
3
Department of Mathematics, School of Science, Sichuan University of Science &
Engineering, Zigong, Sichuan 643000, People’s Republic of China.
ABSTRACT
The problem of global stabilization for a class of nonlinear system is considered in this paper.The sufficient
condition of the global stabilization of this class of system is obtained by deducing thestabilization of itself
from the stabilization of its subsystems. This paper will come up with a designmethod of state feedback
control law to make this class of nonlinear system stable, and indicate the efficiency of the conclusion of
this paper via a series of examples and simulations at the end. Theresults presented in this paper improve
and generalize the corresponding results of recent works.
KEYWORDS
Nonlinear systems; Reduced-order control; Global stabilization.
1. Introduction
Stabilization is a seriously important topic in control system designing [1]-[13]. In recent years
the stabilization of nonlinear systems has won extensive attention from researchers, and some
achievements has been made. The problem is simplified into the question of stabilization of low
order systems, the sufficient condition of the system is gained, and that the state feedback control
law is designed by combining centre manifold theory with part feedback linearization (e.g., [14]).
The design method to construct global stabilization feedback control law is founded and several
sufficient condition of global stabilization for the system is gained by applying linearization
method to a class of nonlinear systems (e.g., [15, 16]). The sufficient condition of local
stabilization and global stabilization for the system is gained by researching the stabilization
question of minimum phase nonlinear system (e.g., [16]). A new method to design control laws is
given, and it has been proved that the corresponding close-loop system can be globally stable
under appropriate condition by researching the stabilization question of a class of affine nonlinear

10
system with standard form (e.g., [17]). The sufficient condition for the global stabilization of
several smooth feedback is given by researching the global stabilization of cascade systems
constructed with linear systems which can be made stable and asymptotically stable nonlinear
systems (e.g., [18]). The stabilizationquestion of a class of triangle system is researched with
smooth output feedback (e.g., [19]). The global stabilization question of cascade system made up
of two nonlinear systems is researched via constructing Lyapunov function (e.g., [20]). The
sufficient condition for the system to be stable is gained, and a state feedback control law is
designed out, through researching the stabilization question of a class of non-minimum phase-
nonlinear system with its reduced-order control system(e.g., [21]). The sufficient condition for the
system to be stable is gained, and that a state feedback control law is designed out through
through researching the stabilization question of a class of non-minimum phase-nonlinear system
based on drive control (e.g., [22]).
This paper will research the global stabilization question of a class of nonlinear system on the
base of analysis, (e.g. See Ref. [8]-[12]), and deduce the stabilization of the original system from
the stabilization of its subsystem-reduced-order control system. According to the features of this
class of nonlinear system, this paper will come up with a design method for the corresponding
state feedback control law, and will prove that close-loop system is globally asymptotically stable
under appropriate condition with Lyapunov second method. This paper will indicate the
efficiency of the conclusion of this paper via a series of examples and simulations at the end. In
this paper, if not specially illustrated, k · k refers to Euclid norm, k · kF refers to Frobenius norm,
| · | refers to scalar function or absolute value of function.
2. System analysis
Consider the following nonlinear system
(1)
where x ∈Rm and y ∈Rn−m are state vectors, u ∈Rn−m is a input vector. f(x) is a vector
function of x, h(x, y) is a vector function of (x, y), g(x, y) is a scalar function of (x, y), and f(x),
g(x, y) and h(x, y) are at least C1 functions about x or (x, y), respectively.
Assumption 1. The subsystem of system (1)
(2)
is globally stable.
Remark 1. This paper uses the static stability of system (1) to discuss its dynamic stability. The
purpose of Assumption 1 is to ensure the static stability of system (1).
In order to obtain main result of this paper, we should do further supposition.
Assumption 2. The subsystem (2) of system (1) is globally stable and there is a Lyapunov

11
function v(x) which satisfies
where M is a positive constant.
Before proving main theorems, present the following analysis and Lemma 1 at first.
Consider the following nonlinear system
(3)
where x ∈Rm and y ∈Rn−m are state vectors, f(x, y) and g(x, y) are vector function of (x, y),
and f(x, y) and g(x, y) are at least C1 functions about(x, y).
Lemma 1. (e.g. see Ref. [23]) If the subsystem of system (3)
(4)
is globally stable, and there is a continuous differentiable scalar functions v(x) such that
limkxk→0 v(x) =+∞, and the derivative of along the trajectory of system (4) at k x k> 0 such that
v(x) ≤ 0, then system (3) is globally stable.
Remark 2. Lemma 1 obtained is rather significant for the proving of the main theorems in this
paper, the main idea of which is that the stabilization of the original system can be proved when
reduced-order subsystem such that static stabilization and some essential assumed conditions.
Before the theorem of this paper given, we must give the following Lemma 2 at first, which is is
easy to understand.
Lemma 2. (e.g. see Ref. [26], [27]) Assume that subsystem (2) of nonlinear system (1) is globally
asymptotically stable, then from Converse-Lyapunov theorem, we know that there must be a
positive function v(x) which satisfies
(5)

12
Without loss of generality. We can suppose
where " is a very small positive.
3. Main results
In the process of researching nonlinear systems, it’s always desired that the states of the system
can reach stable values, so that as many interferences as possible could be avoided. Therefore,
making systems stable has a strong practical applicability. Because of that this question has a
certain actual application background, the research in this paper has some practical meaning.
3.1 Reduced-order state feedback controller design
Theorem 1. Assume that subsystem (2) of nonlinear system (1) satisfies Assumption 2 and there
is a scalar function K(x, y) for system (1) which satisfies:
(6)
Then there is a state feedback control low
(7)
such that the system (1) globally asymptotically stable, where the elements of K(x, y) are at least
C1 functions about (x, y).
Proof. After substitution the state feedback control low (7) into system (1) we see that
(8)
According to Lemma 2, we can construct a Lyapunov function

13
then its derivative along the trajectory of system (1) is
Combined with condition (6) we easy to know
Then we can conclude from Lemma 1 and analysis, e.g. see Ref. 8-12, that system (1) is globally
asymptotically stable.
3.2 Further result in mathematics
The condition of subsystem (2) respect to system (1) is weakens and the further investigation is
given.
Theorem 2. Assume that subsystem (2) of nonlinear system (1) is satisfies Assumption 1. Then
there must be a positive M, when K(x, y) + g(x, y) < −M, there is a state feedback control low
(9)
such that the system (1) globally asymptotically stable, where the elements of K(x, y) are at least
C1 functions about (x, y).
Proof. After substitution the state feedback control low (9) into system (1) we see that
(10)

14
According to Lemma 2, we can construct a Lyapunov function
then its derivative along the trajectory of system (1) is
Combined with condition K(x, y) + g(x, y) < −M we easy to know that so long as
there must be
Then we can conclude from Lemma 1 and analysis, e.g. see Ref. 8-12, that system (1) is globally
4. System simulations
In this section, in order to show that the approach of this paper to this sore of control system is
effective and convenient, we give some illustrative examples and simulation results.
Example 1. Consider the following second-order nonlinear system
(11)

15
Solution. Base on the theorem above, for the subsystem of system (11), we can construct a
Lyapunov function which is given by
It is easy to know that the subsystem of system (11)
is globally asymptotically stable.
Base on the condition (6) of Theorem 1, let
Then, there is a state feedback control law
(12)
such that the system (11) is globally asymptotically stabilization.
Simulation. Without loss of generality. Let the initial values of simulation
and the input control signal
The sample time is 0.1s, and the simulation time are 50s seconds.
The dynamic response of the system (11) with the state feedback control law (12) is show in
Figure 1.

16
From the Figure 1, we can know that the controlled closed-loop system of the system (11) is
Figure 1. Dynamic response of the system (11) with the state feedback control law
(12).
Figure 2. Dynamic response of the system (13) with the state feedback control law
(14).
Example 2. Consider the following third-order nonlinear system
(13)

17
Solution: Base on the theorem above, for the subsystem of system (13), we can construct a
Lyapunov function which is given by
It is easy to know that the subsystem of system (13)
is globally asymptotically stable.
Base on the condition (6) of Theorem 1, let
Then, there is a state feedback control law
(14)
such that the system (13) is globally asymptotically stabilization.
Simulation. Without loss of generality. Let the initial values of simulation
and the input control signal
The sample time is 0.1s, and the simulation time are 10s seconds.
The dynamic response of the system (13) with the state feedback control law (14) is show in
Figure 2.
From the Figure 2, we can know that the controlled closed-loop system of the system (13) is
asymptotically stable [28].

18
5. Conclusion
Based on some work of pioneers, the global stabilization problem for a class of nonlinear system
is investigated in this paper, and that the stabilization of the original system is obtioned from the
stabilization of its reduced-order subsystem. A design method for the corresponding state
feedback control law is given according to the features of this class of nonlinear system, and that
the closeloop system is globally asymptotically stable under appropriate condition is proved with
Lyapunov second method. This paper has indicated the efficiency of the conclusion of this paper
via a series of examples and simulations at the end.
Acknowledgment
The authors would like to express their sincere appreciation to Professor Gong-Quan Tan and
Xiao-Hong Ren for some valuable suggestions toward achieving the work of this paper. The
authors wish to thank the editor and reviewers for their conscientious reading of this paper and
their numerous comments for improvement which were extremely useful and helpful in
modifying the manuscript. This work was jointly supported by the Open Foundation of Enterprise
Informatization and Internet of Things Key Laboratory of Sichuan Province(Grant No.
2013WYY06), the Open Foundation of Artificial Intelligence Key Laboratory of Sichuan
Province (Grant Nos. 2014RYY02, 2013RYJ01, 2012RYJ01 and 2011RYY05), the Science
Foundation of Sichuan University of Science & Engineering (Grant No. 2012KY19) and the
Research Foundation Department of Education of Sichuan Province (Grant No. 11ZA121).
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Authors
Chang-Zhong Chen received the B.S. Degree in Automatic Control from Sichuan
University, in Chengdu, Sichuan, People’s Republic of China and the M.S. Degrees in
Control Science and Engineering from Sichuan University of Science & Engineering,
in Zigong, Sichuan, China, in 1997 and 2009, respectively. He is currently an
Associate Professor with the School of Automation and Electronic Information,
Sichuan University of Science & Engineering, in Zigong, Sichuan, China, from 2010.
His research interests include Technology and application of microcontrollers,
Intelligent control and Chaos control.
Tao Fan received the B.S. Degree and the M.S. Degree in MeasurementTechnology
and Automation Device from Beijing University of Chemical Technology, in
Beijing,People’s Republic of China, in 2003 and 2006, respectively.He is currently a
Lecturer with the School of Automation and Electronic Information, Sichuan
University of Science & Engineering, in Zigong, Sichuan, China. His main research
interests include Intelligent control, Chaos control and synchronization, Complex networks and Consensus
of multi-agent systems.

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