Abstract
This paper presents a unifying framework for the problem of robust global regulation via output feedback for nonlinear systems with integral input-to-state stable (iISS) inverse dynamics, subject to unknown control direction. It is shown that previous work in universal high-gain control with unknown sign of high-frequency gain can be included as special cases. The class of uncertain nonlinear systems studied in this paper extends those studied for output feedback control previously in several directions: unmeasured states and unknown parameters can appear non-linearly, no matching assumption is required, no growth condition of any kind is imposed on the non-linearities for large signals, the inverse dynamics satisfy the weaker condition of Son-tag's integral input-to-state stability, and the sign of high-frequency gain may be unknown. A constructive strategy is proposed to design a dynamic output feedback control law, that drives the state to the origin while keeping all other closed-loop signals bounded.
Original language | English (US) |
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Pages (from-to) | 573-578 |
Number of pages | 6 |
Journal | Proceedings of the American Control Conference |
Volume | 1 |
State | Published - 2003 |
Event | 2003 American Control Conference - Denver, CO, United States Duration: Jun 4 2003 → Jun 6 2003 |
ASJC Scopus subject areas
- Electrical and Electronic Engineering