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Analysis and design of oscillatory control systems
S. Martínez, J. Cortés, F. Bullo
IEEE Transactions on Automatic Control 48 (7) (2003), 1164-1177

Abstract

This paper presents analysis and design results for control systems subject to oscillatory inputs, i.e., inputs of large amplitude and high frequency. The key analysis results are a series expansion characterizing the averaged system and various Lie-algebraic conditions that guarantee the series can be summed. Various example systems provide insight into the results. With regards to design, we recover and extend a variety of point stabilization and trajectory tracking results using oscillatory controls. We present novel developments on stabilization of systems with positive trace and on tracking for second order underactuated systems.

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