Output feedback control for output tracking of nonlinear uncertain systems
- 9 December 2002
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 2509-2514 vol.3
- https://doi.org/10.1109/cdc.1991.261804
Abstract
The problem of robust output via dynamic output feedback for nonlinear systems which are subject to both uncertainty in system functions and input noise is addressed. The notion of beta -tracking, which refers to the property of the system output that it follows a reference trajectory within a beta neighborhood in finite time, is adopted. With some matching conditions, a minimum phase condition, Lipschitz bounds, and some other mild assumptions, it is shown that, if beta -tracking of a nominal system can be achieved via a linear-cone bounded state feedback controller, then similar tracking can be achieved for the nonlinear uncertain system via dynamic output feedback. The resulting controller is linear-cone bounded or can be purely linear with the tradeoff of high gain if desired. The approach presented utilizes and generalizes results on robust tracking an stabilization via state feedback and robust observer design via loop transfer recovery theory.Keywords
This publication has 13 references indexed in Scilit:
- Observer design for loop transfer recovery and for uncertain dynamical systemsIEEE Transactions on Automatic Control, 1990
- Exact, optimal, and partial loop transfer recoveryPublished by Institute of Electrical and Electronics Engineers (IEEE) ,1990
- Tracking Controllers for Uncertain Systems: Application to a Manutec R3 RobotJournal of Dynamic Systems, Measurement, and Control, 1989
- Nonlinear Control SystemsPublished by Springer Nature ,1989
- State-space solutions to standard H/sub 2/ and H/sub infinity / control problemsIEEE Transactions on Automatic Control, 1989
- High gain observers applied to problems in the stabilization of uncertain linear systems, disturbance attenuation and N∞ optimizationInternational Journal of Adaptive Control and Signal Processing, 1988
- Robust asymptotic tracking for linear systems with unknown parametersAutomatica, 1986
- On guaranteed stability of uncertain linear systems via linear controlJournal of Optimization Theory and Applications, 1981
- Guaranteed Asymptotic Stability for Some Linear Systems With Bounded UncertaintiesJournal of Dynamic Systems, Measurement, and Control, 1979
- Linear Multivariable Control: a Geometric ApproachPublished by Springer Nature ,1979