Title :
Optimally robust output feedback control for SISO nonlinear systems
Author_Institution :
Dept. of Autom. Control., Beijing Inst. of Aeronaut. & Astronaut., China
Abstract :
Using the extended linearization method for nonlinear systems, linear robust control theory, and H∞ control theory, an optimally robust output feedback control problem is formulated and solved for SISO nonlinear systems with plant uncertainties. A stability proof is given for the case of plant parameter uncertainty. This design procedure is used to stabilize an inverted pendulum on a cart in the presence of cart mass uncertainty
Keywords :
control system synthesis; feedback; linearisation techniques; nonlinear control systems; optimal control; stability; H∞ control theory; SISO nonlinear systems; SISO systems; cart mass uncertainty; control design; extended linearization method; inverted pendulum; optimal control; optimally robust output feedback control; plant parameter uncertainty; stability; Control systems; Control theory; Linear feedback control systems; Nonlinear control systems; Nonlinear systems; Optimal control; Output feedback; Robust control; Stability; Uncertainty;
Conference_Titel :
Decision and Control, 1989., Proceedings of the 28th IEEE Conference on
Conference_Location :
Tampa, FL
DOI :
10.1109/CDC.1989.70602
