Semi-global Output Feedback Stabilization of Non-Minimum Phase Nonlinear Systems
Systems and Control
2016-07-26 v1 Optimization and Control
Abstract
We solve the problem of output feedback stabilization of a class of nonlinear systems, which may have unstable zero dynamics. We allow for any globally stabilizing full state feedback control scheme to be used as long as it satisfies a particular ISS condition. We show semi-global stability of the origin of the closed-loop system and also the recovery of the performance of an auxiliary system using a full-order observer. This observer is based on the use of an extended high-gain observer to provide estimates of the output and its derivatives plus a signal used by an extended Kalman filter to provide estimates of the remaining states. Finally, we provide a simulation example that illustrates the design procedure.
Keywords
Cite
@article{arxiv.1607.07402,
title = {Semi-global Output Feedback Stabilization of Non-Minimum Phase Nonlinear Systems},
author = {Almuatazbellah M. Boker and Hassan K. Khalil},
journal= {arXiv preprint arXiv:1607.07402},
year = {2016}
}
Comments
9 pages, 1 figure