Global Robust Control of Feedforward Systems: State-Feedback and Output-Feedback

P. Krishnamurthy, P. Khorrami

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

Abstract

In this paper, we propose a robust control design technique for feedforward systems based on our recent results on dynamic high-gain scaling techniques for controller design for strict-feedback-type systems. We consider both state-feedback and output-feedback. The designed controllers have a very simple structure being essentially a linear feedback with state-dependent dynamic gains and do not involve any saturations or recursive computations. The observer in the output-feedback case is similar to a Luenberger observer with dynamic observer gains. The Lyapunov functions are quadratic in the states (and the observer errors in the case of output-feedback). The stability analysis is based on our recent results on uniform solvability of coupled state-dependent Lyapunov equations. The controller design provides strong robustness properties both with respect to uncertain parameters in the system model and additive disturbances. This robustness is the key to the output-feedback controller design.

Original languageEnglish (US)
Title of host publicationProceedings of the IEEE Conference on Decision and Control
Pages6145-6150
Number of pages6
DOIs
StatePublished - 2003
Event42nd IEEE Conference on Decision and Control - Maui, HI, United States
Duration: Dec 9 2003Dec 12 2003

Publication series

NameProceedings of the IEEE Conference on Decision and Control
Volume6
ISSN (Print)0191-2216

Other

Other42nd IEEE Conference on Decision and Control
CountryUnited States
CityMaui, HI
Period12/9/0312/12/03

ASJC Scopus subject areas

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

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    Krishnamurthy, P., & Khorrami, P. (2003). Global Robust Control of Feedforward Systems: State-Feedback and Output-Feedback. In Proceedings of the IEEE Conference on Decision and Control (pp. 6145-6150). (Proceedings of the IEEE Conference on Decision and Control; Vol. 6). https://doi.org/10.1109/CDC.2003.1272253