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Robust output tracking by dynamic compensation

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2 Author(s)
Castro-Linares, R. ; Dept. of Electr. Eng., CINVESTAV-IPN, Mexico City, Mexico ; Moog, C.H.

The input-output decoupling of nonlinear uncertain systems by dynamic compensation is presented. Some geometric conditions which describe intrinsic structural invariance properties are given. Also, a Lyapunov-based study of the performance of the resultant closed-loop system is carried out.

Published in:

American Control Conference, 1994  (Volume:3 )

Date of Conference:

29 June-1 July 1994