Title :
A BTOF observer backstepping-based output feedback law for nonlinear systems
Author :
Kvaternik, Karla ; Lynch, Alan F.
Author_Institution :
Univ. of Alberta, Edmonton, AB, Canada
Abstract :
We present an observer-backstepping based approach to designing an output feedback law on the basis of a BTOF (block triangular observer form) observer for multi-variable nonlinear systems. The BTOF observer is a recently developed extension to the nonlinear observer used in an established approach to demonstrate observer backstepping. We illustrate our design on a model of a physical system-the magnetically levitated ball.
Keywords :
control nonlinearities; control system synthesis; feedback; multivariable control systems; nonlinear control systems; observers; BTOF observer backstepping approach; block triangular observer form; magnetically-levitated ball; multivariable nonlinear control system; output feedback law design; physical system; Backstepping; Control systems; MIMO; Magnetic levitation; Nonlinear control systems; Nonlinear systems; Observers; Output feedback; State estimation; State feedback;
Conference_Titel :
Control Applications, (CCA) & Intelligent Control, (ISIC), 2009 IEEE
Conference_Location :
Saint Petersburg
Print_ISBN :
978-1-4244-4601-8
Electronic_ISBN :
978-1-4244-4602-5
DOI :
10.1109/CCA.2009.5280954
