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Brockett’s Second Example: A FAS Approach Treatment

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Abstract

In this paper, several equivalent forms of the well-known Brockett’s second example system are firstly presented. The stabilization of the system is then treated in the fully actuated system approach. A simple continuous time-invariant sub-stabilizing controller is designed, and the corresponding region of attraction is characterized. As a result, all trajectories of the system starting from the characterized region of attraction are driven exponentially to the origin. Since the region of attraction is very large, the designed sub-stabilizing controller can be directly useful in many practical situations. In cases where the initial values are indeed needed to be chosen out of the region of attraction, extremely simple pre-controllers can be designed, which drive the system trajectories into the designed region of attraction. A simulation of the designed control system is carried out to show the effect of the proposed approach.

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Acknowledgements

The author is grateful to his Ph.D. students, Weizhen Liu, Guangtai Tian, Qin Zhao, etc., for helping him with reference selection and proofreading, and to his Ph.D. student Tianyi Zhao for working out the simulation results.

Author information

Authors and Affiliations

  1. Shenzhen Key Laboratory of Control Theory and Intelligent Systems, Southern University of Science and Technology, Shenzhen, 518055, China

    Guang-Ren Duan

  2. Center for Control Theory and Guidance Technology, Harbin Institute of Technology, Harbin, 150001, China

    Guang-Ren Duan

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  1. Guang-Ren Duan
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Correspondence to Guang-Ren Duan.

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The author declares no conflict of interest.

Additional information

This paper was partially supported by Shenzhen Key Laboratory of Control Theory and Intelligent Systems under Grant No. ZDSYS20220330161800001, the Science Center Program of the National Natural Science Foundation of China under Grant No. 62188101, and also the Major Program of National Natural Science Foundation of China under Grant Nos. 61690210 and 61690212.

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Duan, GR. Brockett’s Second Example: A FAS Approach Treatment. J Syst Sci Complex 36, 1789–1808 (2023). https://doi.org/10.1007/s11424-023-2282-x

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  • DOI: https://doi.org/10.1007/s11424-023-2282-x

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