Asymptotic stability of reference trajectories for nonlinear systems by linear dynamic output feedback

Author

Antritter, Felix

Author_Institution

Automatisierungs- und Regelungstech., Univ. der Bundeswehr Munchen, Neubiberg, Germany

fYear

2009

fDate

23-26 Aug. 2009

Firstpage

2781

Lastpage

2786

Abstract

In this contribution we analyze in detail the stability of the linear dynamic output feedback which has been introduced in [1], [2] for the stabilization of trajectories for differentially flat systems and which has been extended to nonflat systems whose linearization about the reference trajectory is controllable [3], [4]. The linearized tracking error dynamics of the closed loop system are shown to be exponentially stable and thus the reference trajectory for the nonlinear system is asymptotically stable. In this contribution also the states of an implementation of the dynamic output feedback are considered and the relations with the state space approach are clarified.

Keywords

asymptotic stability; closed loop systems; feedback; linearisation techniques; nonlinear systems; state-space methods; trajectory control; asymptotic stability; closed loop system; differentially flat systems; dynamic output feedback; exponential stability; linear dynamic output feedback; linearized tracking error dynamics; nonflat systems; nonlinear systems; reference trajectories; state space approach; trajectory stabilization; Asymptotic stability; Nonlinear dynamical systems; Output feedback; Stability analysis; Time-varying systems; Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (ECC), 2009 European

Conference_Location

Budapest

Print_ISBN

978-3-9524173-9-3

Type

conf

Filename

7074828