Performance recovery under output feedback for input nonaffine nonlinear systems

Author

Joonho Lee ; Mukherjee, Rohan ; Khalil, Hassan K.

Author_Institution

Dept. of Mech. Eng., Michigan State Univ., East Lansing, MI, USA

fYear

2012

fDate

10-13 Dec. 2012

Firstpage

326

Lastpage

331

Abstract

In this paper we propose a new method for the design of an output feedback controller for a minimum-phase, uncertain, input-nonaffine, nonlinear system. By combining dynamic inversion control together with extended high-gain observer, our output feedback controller is able to bring the trajectories of the closed-loop system arbitrarily close to that of a given target system. Stability analysis of the closed-loop system is presented along with simulation results of trajectory tracking.

Keywords

closed loop systems; control system synthesis; feedback; nonlinear control systems; observers; stability; uncertain systems; closed-loop system trajectories; dynamic inversion control; extended high-gain observer; input nonaffine nonlinear systems; minimum-phase nonlinear system; output feedback controller design; performance recovery; stability analysis; trajectory tracking; uncertain nonlinear system; Estimation; Nonlinear dynamical systems; Output feedback; State feedback; Trajectory; Uncertainty;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control (CDC), 2012 IEEE 51st Annual Conference on

Conference_Location

Maui, HI

ISSN

0743-1546

Print_ISBN

978-1-4673-2065-8

Electronic_ISBN

0743-1546

Type

conf

DOI

10.1109/CDC.2012.6426339

Filename

6426339