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This paper is, in fact, a proposal of a polynomial approach to the nonlinear systems control by using the concept of linearization by state feedback. In this context, a discretization method is presented. We developed a discrete control scheme based on an approximate feedback linearization method and the reversing trajectory method. The proposed control strategy sits on the methods of widening the stability domains of operating points. Such domains are expanded through the use of the non Lyapunov stability synthesis methods. Additionally, the developed technique is employed for the control of the class of systems with an order higher than two; more precisely, the example of a synchronous generator featured in a strongly nonlinear model.

It is widely believed that in the field of automation, several constraints of physical nature have an effect on the dynamic behavior of non-linear systems. Consequently, the study of a system-dynamics comprises a preliminary and important phase so that we can find out about the strategy of a powerful and reliable order. Obviously, the study and analysis of the stability of dynamic systems involves an essential stage for any resourceful study. Thus, the concept of asymptotic stability of autonomous continuous systems is elaborated today. In 19th century, this notion came into existence with the theory of Lyapunov in an attempt to create an interest-center to a huge number of research-works and research-works; in this, the theory of Zubov [

• The analysis of the stability of nonlinear dynamic systems.

• The estimate of a relatively exact region of the state-space ensuring the stability of nonlinear-system va- riables.

When we are inclined to the study of stability in continuous time, we can perceive the richness of the litera- ture which is teeming with results, methods and approaches dealing with these themes [

Nevertheless, when dealing with the problems of analysis and stability of the discrete autonomous nonlinear systems, we note that a few works address such problems [

In this, this article is aimed to study the stability and to determine a field of stability of the discrete autonom- ous nonlinear dynamic systems.

We also realize that most of the studies dealing with this subject are based on the Lyapunov theory. We insist on the fact that, for a nonlinear system, the determination of an asymptotic stability region around an equili- brium point is generally a hard task. Again, we are appealed to the synthesis of a numerical technique so as to analyze the asymptotic stability in the neighborhood of the discrete systems stable equilibrium points.

This approach is developed in other works [

Indeed, the reverse trajectory method paves us the way to reach the exact field of asymptotic stability of the nonlinear discrete systems of order 2. Nevertheless, it is applied to the systems of an order equal to or higher than 3 in orders to widen the initial field of stability without reaching the exact field of stability.

This paper is organized as follows: in the first section.

The method of studying a discrete process looks like a transposition of the methods which are initially devel- oped for the continuous systems. This actually pushes us to study the analogy between the continuous and dis- crete process which paves us the way to use the numerical and analogue methods by control and simulation.

In this part, we are inclined to the determination of a discrete model of the continuous systems.

Initially, we consider the continuous model defined by the following equation:

We employ the continuous model of order three which is defined by:

By considering a discretization period T, which is properly selected and by adopting the following approxima-

tions in an interval

Let us consider, then, the following discretization method [

By including Equation (3) in Equation (2), here comes the discrete model given by:

where

The concept of the discrete NLGS approach is derived from the same methodology as the continuous NLGS one. In addition, we discredited the continuous model so as to simplify the analysis and to facilitate the task of asso- ciated calculation [

The studied discrete nonlinear systems are defined by the state equations of the form [

where

Let us consider the following variable change

Let us consider the discrete nonlinear system (1) and consider an arbitrary linear system of order n described by the following state equation [

It is a question of determining, when there exists, a nonlinear feedback of the form:

Here is a nonlinear analytical transformation described by the following equation:

Such that (5) is transformed into the linear system (7).

By using the polynomial development of the functions

where

The control vector

By replacing the functions

After replacing the control vector

Such equation can be stated in this form:

where

The vector defined in Equation (9) verified:

and for

where

In particular, we have

and

The expression (14) truncated to the r order:

Using the polynomial development functions

other

By replacing

where

The identification of the relations (20) and (21) leads to the following recurring equations:

The choice of the matrix

when the function

where

A necessary condition of existence of the matrix

where

Equation (25) allows for the determination of the coefficients of the matrices

the control law are selected such that the standard

to the following expression of the matrices

This principle derives its effectiveness from the fact that the asymptotic speeds of the points belonging to the closed curves (when

This method is obviously based on the execution of the iterations by reversing the sampling moments de- scribed by the parameter k of the state Equation (13) and represent the autonomous nonlinear discrete polynomi- al system [

Such a system is called reverse, it is characterized by the same samples belonging to the closed curves of the state space and which describe the discrete dynamics of the system (13) but by reversing the direction of the states. The origin which is thought to be stable for the system (27), thus, becomes unstable for the system known as reverse (13).

This section is dedicated to the synthesis of the analytical methods which aim at approximating the recurring state equation of the studied discrete system through a state equation which describes its evolution in the oppo- site direction in the state space.

An algebraic approach will then be considered [

Let us suppose then:

This assumption is rigorously justified in the case where the evolution from iteration to another is done with an optimal choice of the sampling period.

According to the analytical development given in [

By replacing

where

The expression (30) characterizes the term

In this section, we suggest a synthesis algorithm which allows formulating the principal steps leading to the es- timate of an asymptotic stability region of the discrete nonlinear systems [

This algorithm is presented in 4 steps:

Step 1: It tends to determine the system equilibrium points out of the original point and to analyze the local stability of each point.

Step 2: It is likely to determine an IRAS

Step 3: It concerns the development of an iterative calculation based on Equation (13) initialized by a depar- ture stability field

Step 4: It consists in stopping the iterative calculation based on Equation (13) when a broad ASR is obtained after the convergence of the curve towards a limited form.

The application of Step 1 does not generally present any difficulty, contrary to the determination of a IRAS. In order to solve this problem, we used a technique presented in [

The detailed analysis of the algorithm allows us to deduce some remarks and conclusions similar to the case of the reverse trajectory method considered for the continuous systems. Actually, the topological and graphic character on which this algorithm is based shows some difficulties for the high order systems. Nevertheless, it remains effective for reduced order systems

• Concerning the second order systems, the method converges towards a sufficiently large asymptotic stability region in a minimal time. This result comprises a very important performance in the context of synthesizing control laws that will be established on line [

• For the systems of order higher than two, the method remains also applicable only to widen the initial asymp- totic stability region. A sufficient number of

Theorem [

The discrete time state variables of Equation (13) are exponentially stable in the ball

where

The problem of transitory stability of the generator-systems becomes increasingly important because of the re- markable increase in the network dimensions of production and the transport of electrical energy [

It is perceived that the stability of the production systems of electrical energy is never global but local around an operating state considered as an equilibrium state.

This typical problem brought about by the disturbances in the production systems stability is the main factor that encouraged us to consider the exact asymptotic stability region of the considered systems [

The very study is about the application of the method of the suggested approaches to the linearizing control of a synchronous generator.

The synchronous generator can be described by a model of order three characterized by the state vector [

As for input, it has the excitation tension

The following Equations represent this model [

where

The development of the Equations around an operating point

where

The studied generator is characterized by the parameters expressed in the following reduced values (per unit “p.u”) [

The discretization of the continuous model of the synchronous generator leads to a polynomial model of the following form:

with:

The application of the control approach to the obtained discrete model lets us determine a polynomial control law:

And a non-linear transformation

The line matrix

Evolution of the state

Evolution of the state

Evolution of the state

Evolution of control

Aymptotic stability region of two Axes

Asymptotic stability region of the synchronous generator

Indeed, we may notice that the variables quickly return to the origin and that the recorded excesses remain within the tolerated limits. The same conclusion can be drawn to the control signal which permits to ensure this powerful regulation.

The discrete Reverse Trajectory Method (RTM) is theoretically exploitable for any locally stable nonlinear system. Moreover, it proves its effectiveness through the advantage of being numerically implementable for high order systems. What is more, one may also note that the performance of this method largely depends on the determination of an asymptotic initial region which will be used as an initial field for integration in opposite di- rection. We apply RTM so as to determine an Asymptotic Stability Region (ASR). The results of this step are given in

We notice, in