Generalized nonlinear output-feedback canonical form: Global output tracking

Prashanth Krishnamurthy, Farshad Khorrami, Zhong Ping Jiang

Research output: Contribution to journalConference articlepeer-review


A global robust output feedback dynamic compensator is proposed for stabilization and tracking of a class of systems that are globally diffeomorphic into systems which are in generalized output-feedback canonical form. This form includes as special cases the standard output-feedback canonical form and various other forms considered previously in the literature. Output-dependent nonlinearities are allowed to enter both additively and multiplicatively. The system is allowed to contain uncertain nonlinearities satisfying certain bounds. Under the assumption that a constant matrix can be found to achieve a certain property, it is shown that a reduced-order observer and a backstepping controller can be designed to achieve practical stabilization of the tracking error. Sufficient conditions under which asymptotic tracking and stabilization can be achieved are also obtained. For the special case of linear systems, the designed dynamic controller reduces to the standard reduced-order observer and linear controller. This is the first global output-feedback tracking results for this class of systems.

Original languageEnglish (US)
Pages (from-to)1380-1385
Number of pages6
JournalProceedings of the IEEE Conference on Decision and Control
StatePublished - 2001
Event40th IEEE Conference on Decision and Control (CDC) - Orlando, FL, United States
Duration: Dec 4 2001Dec 4 2001

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization


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