@inproceedings{30706eb329f443d99ca51dee8cb92bf6,
title = "A dynamic scaling based control redesign procedure for uncertain nonlinear systems with input unmodeled dynamics",
abstract = "The global asymptotic stabilization problem for a general class of uncertain nonlinear systems with dynamic input uncertainties (input unmodeled dynamics) is considered. The system structure addressed in this paper is comprised of a nominal system (which can have a general nonlinear dynamics structure and is assumed to have a nominal control law to stabilize the nominal system) and an appended input unmodeled dynamics. The proposed approach is based on a control redesign utilizing the nominal control law and incorporating a singular-perturbation-like dynamic system extension along with a dynamic scaling to address the dynamic input uncertainties. The control input uncertainty structure is modeled through an uncertain non-affine function of the control input and the unmeasured state of an uncertain input unmodeled dynamics subsystem. The proposed control redesign approach is applicable to a wide class of nonlinear systems including triangular as well as non-triangular system structures as long as a set of structural and inequality conditions on the system dynamics are satisfied and provides a global robust output-feedback stabilizing controller.",
keywords = "Dynamic output feedback, Lyapunov methods, Nonlinear control systems, Robust control, Uncertain dynamic systems",
author = "Prashanth Krishnamurthy and Farshad Khorrami",
note = "Publisher Copyright: {\textcopyright} IFAC.; 19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014 ; Conference date: 24-08-2014 Through 29-08-2014",
year = "2014",
doi = "10.3182/20140824-6-za-1003.02773",
language = "English (US)",
series = "IFAC Proceedings Volumes (IFAC-PapersOnline)",
publisher = "IFAC Secretariat",
pages = "3708--3713",
editor = "Edward Boje and Xiaohua Xia",
booktitle = "19th IFAC World Congress IFAC 2014, Proceedings",
}