Title :
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
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;
Conference_Titel :
Decision and Control (CDC), 2012 IEEE 51st Annual Conference on
Conference_Location :
Maui, HI
Print_ISBN :
978-1-4673-2065-8
Electronic_ISBN :
0743-1546
DOI :
10.1109/CDC.2012.6426339
