Abstract
We propose the novel controller design method for multi-input nonlinear systems based on the phase plane behavior. The controller is designed to minimize the difference of two vector fields : nonlinear closed-loop vector fields and stabilized closed-loop vector fields of linear approximation with linear controller. Stability of the proposed controller is guaranteed by considering the Lyapunov function on the phase plane. Furthermore, as application, we propose controlling methods based on evaluation functions. The effectiveness is illustrated by numerical simulation.
