On the Modulating Function Method for Control Problems

Abstract

The modulating function method is an algebraic framework that, thus far, has been used for state and parameter estimation, as well as fault detection, of linear, fractional-order, distributed, and some nonlinear systems. At the core of the method lies the modulating function, which can either be selected directly or be obtained as a solution to an auxiliary system. By introducing the notion of dual modulating functions and dual modulations using auxiliary systems and duality, this paper shows that this framework is not only an estimation framework, but also a controller design framework for LTV systems. In particular, necessary and sufficient conditions for the existence of the associated control laws are introduced; the well-known state feedback law is obtained as a particular case of the dual modulation approach, along with output feedback, LTI sliding mode control, the reachability gramian, and the state-transition matrix; and a new fixed-time control law is proposed for both LTI and LTV systems, including an estimate of the transient behavior. Moreover, numerical simulations of the newly proposed control law are performed, indicating similar performance levels to a benchmark LQR even when handling unmatched disturbances.