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Design of oscillatory control systems
S. Martínez, J. Cortés, F. Bullo
Proceedings of the 41st IEEE Int. Conf. Decision and Control, Las Vegas, Nevada, USA, 2002, pp. 1509-1514

Abstract

This paper presents a broad and rigorous framework for the analysis and design of control systems subject to oscillatory inputs, i.e., inputs of large amplitude and high frequency. The key analysis result is a series expansion characterizing the averaged system. This expansion leads to efficient algorithms for stabilization of systems with positive trace and for trajectory tracking for second-order underactuated systems. A second-order nonholonomic integrator and the PVTOL example provide insight into the trajectory tracking controller.

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