Title :
Stabilization of nonlinear feedforward systems: a robust approach
Author :
Marconi, L. ; Isidori, A.
Author_Institution :
Dipt. di Elettronica, Inf. e Sistemistica, Bologna Univ., Italy
Abstract :
We focus on the problem of globally asymptotically stabilizing a general class of nonlinear feedforward systems in the presence of uncertain parameters affecting the model of the system and un-modeled actuator dynamics. This work can be seen as a nontrivial extension of a previous result (L. Marconi and A. Isidori, 2000). To solve the problem we assume a controllability condition on the linear approximation of the system and that the unmodelled actuator dynamics are input-to-state stable for small inputs
Keywords :
actuators; asymptotic stability; controllability; feedforward; nonlinear control systems; robust control; uncertain systems; controllability condition; global asymptotic stabilization; input-to-state stable dynamics; linear approximation; nonlinear feedforward system stabilization; robust approach; small inputs; uncertain parameters; unmodelled actuator dynamics; Control systems; Controllability; Feedforward systems; Hydraulic actuators; Linear approximation; Linear feedback control systems; Nonlinear control systems; Nonlinear dynamical systems; Robustness; State feedback;
Conference_Titel :
Decision and Control, 2001. Proceedings of the 40th IEEE Conference on
Conference_Location :
Orlando, FL
Print_ISBN :
0-7803-7061-9
DOI :
10.1109/.2001.980694
