Global output feedback tracking for nonlinear systems in generalized output-feedback canonical form

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

A global 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. 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 asymptotic tracking. 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)
Title of host publicationProceedings of the American Control Conference
Pages4241-4246
Number of pages6
Volume6
StatePublished - 2001
Event2001 American Control Conference - Arlington, VA, United States
Duration: Jun 25 2001Jun 27 2001

Other

Other2001 American Control Conference
CountryUnited States
CityArlington, VA
Period6/25/016/27/01

ASJC Scopus subject areas

  • Control and Systems Engineering

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  • Cite this

    Krishnamurthy, P., Khorrami, F., & Jiang, Z-P. (2001). Global output feedback tracking for nonlinear systems in generalized output-feedback canonical form. In Proceedings of the American Control Conference (Vol. 6, pp. 4241-4246)