Nonlinear output feedback tracking with almost disturbance decoupling
- 1 January 1999
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Transactions on Automatic Control
- Vol. 44 (1) , 18-28
- https://doi.org/10.1109/9.739062
Abstract
Addresses the design of global output feedback controls for a class of uncertain nonlinear single-input/single-output systems which are globally transformable into an observable minimum phase system whose nonlinearities depend on the output only. They may be affected by unknown time-varying disturbances or parameter variations entering linearly in the state equations. The proposed dynamic controller is of order /spl rho/-1 (/spl rho/ is the relative degree of the given system) and ensures that the closed-loop system enjoys for any initial condition and for any smooth bounded output reference signal (with bounded time derivatives up to order /spl rho/) the following properties: input-to-state stability with respect to disturbance inputs and almost disturbance decoupling, i.e., the influence of disturbances both on the L/sub 2/ and on the L/sub /spl infin// norm of the output tracking error is arbitrarily attenuated by increasing a positive scalar control parameter. When disturbances are zero the reference signal is exponentially tracked by the output and the equilibrium point corresponding to the reference signal is globally asymptotically stable.Keywords
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