Title :
On discrete-time output-feedback control of feedback linearizable systems
Author :
Loria, Antonio ; Morales, Jesus DeLeon ; Guevara, Oscar Huerta
Author_Institution :
Lab. des Signaux et Syst., CNRS, Gif sur Yvette, France
Abstract :
In this paper, we present a control-observer scheme for discrete-time nonlinear systems. A controller and an observer are proposed for a class of discrete-time nonlinear systems. The results obtained are applied to a flexible robot in order to illustrate the proposed scheme.
Keywords :
asymptotic stability; closed loop systems; discrete time systems; feedback; nonlinear systems; observers; robots; closed loop system; discrete time systems; exponential stability; feedback linearizable systems; flexible robot; nonlinear systems; observer; output feedback control; stabilization; Asymptotic stability; Backstepping; Control systems; Control theory; Linear feedback control systems; Nonlinear control systems; Nonlinear systems; Output feedback; Robots; Sampling methods;
Conference_Titel :
American Control Conference, 2003. Proceedings of the 2003
Print_ISBN :
0-7803-7896-2
DOI :
10.1109/ACC.2003.1243427
