Title :
Stability robustness of linearizing controllers with state estimation for discrete-time nonlinear systems
Author :
Cruz, César ; Alvarez, Joaquin ; Castro, Rafael
Author_Institution :
Sci. Res. & Adv. Studies of Ensenada, Mexico
Abstract :
We discuss the effect of parameter uncertainty on the stability of the closed-loop system regulated by a state feedback that linearizes a nominal discrete-time nonlinear system which includes an observer. We show that the stability of the perturbed closed-loop system is assured if the closed-loop nominal system has an exponentially stable equilibrium point including an exponential observer, and provided some other conditions on the perturbation magnitude are also satisfied. An analysis of the effect of parameter perturbations on the stability of input-state linearizing controllers that make use of a state estimator, is presented
Keywords :
MIMO systems; closed loop systems; discrete time systems; linearisation techniques; nonlinear systems; observers; stability; state feedback; MIMO systems; closed-loop system; discrete-time systems; linearizing controllers; nonlinear systems; observer; robustness; stability; state estimation; state feedback; Control systems; Linear feedback control systems; Nonlinear control systems; Nonlinear systems; Observers; Output feedback; Robust control; Robust stability; State estimation; State feedback;
Conference_Titel :
American Control Conference, 1999. Proceedings of the 1999
Conference_Location :
San Diego, CA
Print_ISBN :
0-7803-4990-3
DOI :
10.1109/ACC.1999.786273