Verification Techniques for Sensitivity Analysis and Design of Controllers for Nonlinear Dynamical Systems with Uncertainties
A. Rauh (University of Ulm, Germany), J. Minisini (University of Ulm, Germany) and E.P. Hofer (University of Ulm, Germany)
Control strategies for nonlinear dynamical systems are often based on properties such as differential flatness or exact input-output as well as input-to-state linearizability. However, these approaches are limited to specific classes of system models. In order to generalize design procedures and to account for parameter uncertainties as well as modeling errors, an interval arithmetic approach for validated simulation of both ordinary differential equations and differential-algebraic equations is extended to the synthesis and sensitivity analysis of open-loop and closed-loop controllers. This approach is demonstrated for a nonlinear uncertain model of biological wastewater treatment plants.