Measurement feedback control of nonlinear systems: a small-gain approach

Tengfei Liu, Zhong Ping Jiang

Research output: Contribution to journalArticlepeer-review


This paper presents a new tool for feedback control design of nonlinear systems in the presence of non-smooth measurement errors. We introduce a small-gain design approach to robust control of nonlinear uncertain systems with disturbed measurement. As a design ingredient, a modified gain assignment technique for measurement feedback control of nonlinear uncertain systems is proposed. Through a recursive control design approach, the closed-loop system is transformed into a network of input-to-state stable (ISS) systems and the influences of the measurement errors are represented by ISS gains. The feedback control objective is achieved by applying the cyclic-small-gain theorem to the closed-loop system. Moreover, event-triggered control of nonlinear systems is studied in a unified framework of measurement feedback control.

Original languageEnglish (US)
Pages (from-to)64-89
Number of pages26
JournalJournal of Control and Decision
Issue number1
StatePublished - Jan 2 2020


  • Nonlinear systems
  • input-to-state stability
  • measurement error
  • nonlinear small-gain theorem

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Signal Processing
  • Information Systems
  • Human-Computer Interaction
  • Computer Networks and Communications
  • Control and Optimization
  • Artificial Intelligence


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