A Novel Dissipativity-Based Control for Inexact Nonlinearity Cancellation Problems

<div>(a) Comparison between original nonlinearity (solid blue), naive piecewise linear approximation (dashed red), and optimal piecewise linear approximation (dot-dashed green). (b) Comparison of overall Lipschitz constants <svg height="23.7075pt" id="M335" style="vertical-align:-8.817101pt" version="1.1" viewbox="-0.0498162 -14.8904 66.3046 23.7075" width="66.3046pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.0135,0,0,-0.0135,0,.771)"><path d="M772 1098H727L517 -348H515L294 324L133 259L147 224L245 263L524 -588H526L772 1098Z" id="g119-122"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="764" vert-adv-y="764"></glyph.data></g><rect height="0.679945" width="55.557" x="10.648" y="-14.1606"></rect><g transform="matrix(.0135,0,0,-0.0135,10.648,0)"><path d="M541 160L512 170C485 116 462 88 439 67C411 41 376 35 318 35C272 35 238 37 224 48C207 61 205 85 212 121L290 533C305 611 308 615 391 622L397 650H139L133 622C217 615 221 612 206 533L126 118C111 41 103 34 23 26L17 0H474C489 31 528 124 541 160Z" id="g113-77"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="553" vert-adv-y="553"></glyph.data></g><g transform="matrix(.0095,0,0,-0.0095,18.136,-4.743)"><path d="M414 144C384 79 371 75 317 75H135L276 221C367 316 408 376 408 465C408 570 327 635 237 635C179 635 131 609 100 575L42 494L67 471C94 510 138 565 205 565C277 565 321 517 321 435C321 348 258 270 195 195C146 137 88 81 33 26V0H411C423 44 433 88 446 135L414 144Z" id="g50-51"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="487" vert-adv-y="487"></glyph.data></g><g transform="matrix(.0095,0,0,-0.0095,19.292,4.478)"><path d="M552 243C552 372 474 431 385 468C378 471 378 492 382 510L419 675L401 683L345 637L224 54C173 71 118 128 118 218C118 323 174 382 270 423L255 458C130 420 24 339 24 204C24 97 93 14 213 -8L188 -131C170 -220 197 -250 217 -257L224 -254L278 -7C427 -3 552 98 552 243ZM478 228C478 124 408 37 287 40L363 405C401 395 478 336 478 228Z" id="g50-243"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="576" vert-adv-y="576"></glyph.data></g><g transform="matrix(.0135,0,0,-0.0135,28.301,0)"><path d="M535 230V280H323V490H265V280H52V230H265V-3H323V230H535Z" id="g117-36"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="587" vert-adv-y="587"></glyph.data></g><g transform="matrix(.0135,0,0,-0.0135,39.282,0)"><path d="M541 160L512 170C485 116 462 88 439 67C411 41 376 35 318 35C272 35 238 37 224 48C207 61 205 85 212 121L290 533C305 611 308 615 391 622L397 650H139L133 622C217 615 221 612 206 533L126 118C111 41 103 34 23 26L17 0H474C489 31 528 124 541 160Z" id="g113-77"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="553" vert-adv-y="553"></glyph.data></g><g transform="matrix(.0095,0,0,-0.0095,46.77,-4.743)"><path d="M414 144C384 79 371 75 317 75H135L276 221C367 316 408 376 408 465C408 570 327 635 237 635C179 635 131 609 100 575L42 494L67 471C94 510 138 565 205 565C277 565 321 517 321 435C321 348 258 270 195 195C146 137 88 81 33 26V0H411C423 44 433 88 446 135L414 144Z" id="g50-51"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="487" vert-adv-y="487"></glyph.data></g><g transform="matrix(.0095,0,0,-0.0095,47.926,4.478)"><path d="M552 243C552 372 474 431 385 468C378 471 378 492 382 510L419 675L401 683L345 637L224 54C173 71 118 128 118 218C118 323 174 382 270 423L255 458C130 420 24 339 24 204C24 97 93 14 213 -8L188 -131C170 -220 197 -250 217 -257L224 -254L278 -7C427 -3 552 98 552 243ZM478 228C478 124 408 37 287 40L363 405C401 395 478 336 478 228Z" id="g50-243"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="576" vert-adv-y="576"></glyph.data></g><g transform="matrix(.0095,0,0,-0.0095,53.389,4.478)"><path d="M556 236V289H56V236H556Z" id="g54-33"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="611" vert-adv-y="611"></glyph.data></g><g transform="matrix(.0095,0,0,-0.0095,59.184,4.478)"><path d="M659 416L649 451C600 438 564 414 546 396C527 377 518 354 506 308C495 265 474 200 456 152C437 102 400 45 326 34L424 510L415 514L351 494L266 44C213 55 182 94 182 174C182 200 187 243 191 277C194 304 196 331 196 357C196 415 178 451 138 451C108 451 66 431 24 386L32 355C49 370 66 377 81 377C91 377 110 370 110 328C110 300 107 269 104 240C101 214 99 188 99 162C99 37 166 -5 257 -13L220 -202C215 -228 229 -251 236 -257L274 -218L318 -11C349 -4 378 8 400 21C444 48 489 89 518 157L586 327C601 369 619 393 659 416Z" id="g50-245"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="671" vert-adv-y="671"></glyph.data></g></svg> obtained with the two approximation schemes.</div>

Mathematical Problems in Engineering

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Figure 4

Figure 4: A Novel Dissipativity-Based Control for Inexact Nonlinearity Cancellation Problems 