Abstract
This paper is concerned with the Direct Gradient Descent Control (DGDC), which produces a dynamic state feedback control for stabilizing general nonlinear systems. DGDC manipulates control inputs directly so as to decrease a performance function like the squared error, based on the gradients of the performance function and the steepest descent method. Stability of DGDC is proved by use of the comparison function method. We also prove that if linearlized system of DGDC has a minimum phase property, then a proportional coefficient for the steepest descent method exists such that DGDC achieves asymptotical stability. Based on this result a design method of asymptotically stable DGDC is proposed. The effectiveness of the proposed method is confirmed with simulation result for various nonlinear plant.
