Application of the dynamic high-gain scaling methodology to servocompensator design

P. Krishnamurthy, F. Khorrami

Research output: Contribution to journalArticlepeer-review


The error-feedback servomechanism problem is addressed for a general class of strict-feedback-like systems. We provide two error-feedback control designs based on our recent results on adaptive outputfeedback based on dynamic high-gain scaling. One control design is of a dual high-gain observer/controller structure, whereas the other control design utilizes a backstepping-based controller in conjunction with a dynamic high-gain scaling-based observer. Owing to the particular robustness properties offered by a dynamic high-gain scaling-based controller and a backstepping-based controller, the two designs require slightly different sets of assumptions on the system. Both design techniques allow the system to contain both unknown functions and uncertain appended input-to-state stable dynamics. Copyright 2008 John Wiley and Sons, Ltd.

Original languageEnglish (US)
Pages (from-to)937-964
Number of pages28
JournalInternational Journal of Robust and Nonlinear Control
Issue number8
StatePublished - May 25 2009


  • Adaptive control
  • Error-feedback
  • High gain
  • Nonlinear control
  • Robustness
  • Servomechanism

ASJC Scopus subject areas

  • Control and Systems Engineering
  • General Chemical Engineering
  • Biomedical Engineering
  • Aerospace Engineering
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering


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