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Supervisory Controller Design Based On Lyapunov Stable Theory

The design target of a supervisory controller (SC) is to stabilize the system states within a designate region. In this paper, we propose two improved SCs designed for SISO nonlinear system based on the Lyapunov stable theory. These improved SCs have the original stabilize function and moreover they can have acceptable control ability even if the system does not have a main controller. Since these SCs design is independent to the main controller, they can be applied to many different main controllers with the constraint that the bounds information of plant model must be known. In addition, we design a bounded lay to improve the chattering problem based on the improved SC form. Finally, we present numerical simulations to illustrate the correctness and practicability of the improved SCs.