Dirty derivatives for output feedback stabilization
Abstract
Dirty derivatives are routinely used in industrial settings, particularly in the implementation of the derivative term in PID control, and are especially appealing due to their noise-attenuation and model-free characteristics. In this paper, we provide a Lyapunov-based proof for the stability of linear time-invariant control systems in controller canonical form when utilizing dirty derivatives in place of observers for the purpose of output feedback. This is, to the best of the authors' knowledge, the first time that stability proofs are provided for the use of dirty derivatives in lieu of derivatives of different orders. In the spirit of adaptive control, we also show how dirty derivatives can be used for output feedback control when the control gain is unknown.
Keywords
Cite
@article{arxiv.2202.01941,
title = {Dirty derivatives for output feedback stabilization},
author = {Matteo Marchi and Lucas Fraile and Paulo Tabuada},
journal= {arXiv preprint arXiv:2202.01941},
year = {2022}
}
Comments
18 pages and 5 figures. The first two authors contributed equally to this paper