Homogeneous Control Design Using Invariant Ellipsoid Method

The invariant ellipsoid method is aimed at minimization of the smallest invariant and attractive set of a control system operating under bounded external disturbances and parametric uncertainties. This article extends this technique to a class of the so-called generalized homogeneous system. The generalized homogeneous optimal (in the sense of invariant ellipsoid) controller allows further improvement of the control system providing a faster convergence and smaller overshoots. Theoretical results are supported by numerical simulations and experiments.