Robust stabilization and ultimate boundedness of dynamic surface control systems via convex optimization

In this paper, a new method of analysing the controller gains and filter time constants for dynamic surface control (DSC) is presented. First, since DSC provides linear error dynamics with perturbation terms for a class of non-linear systems, the design method can be used to assign the system matrix eigenvalues of the closed loop error dynamics. Then a procedure for testing the stability and performance of the fixed controller in the face of uncertainties is presented. Finally, an ellipsoidal approximation of the tracking error bounds for a tracking problem is obtained via convex optimization.