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Global output feedback tracking for nonlinear systems in generalized output-feedback canonical form

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3 Author(s)
P. Krishnamurthy ; Dept. of Electr. Eng. & Comput. Sci., Polytech. Univ. Brooklyn, NY, USA ; F. Khorrami ; Z. P. Jiang

A global output feedback dynamic compensator is proposed for stabilization and tracking of a class of systems that are globally diffeomorphic into systems which are in generalized output-feedback canonical form. This form includes as special cases the standard output-feedback canonical form and various other forms considered previously in the literature. Output-dependent nonlinearities are allowed to enter both additively and multiplicatively. Under the assumption that a constant matrix can be found to achieve a certain property, it is shown that a reduced-order observer and a backstepping controller can be designed to achieve asymptotic tracking. For the special case of linear systems, the designed dynamic controller reduces to the standard reduced-order observer and linear controller. This is the first global output-feedback tracking results for this class of systems.

Published in:

IEEE Transactions on Automatic Control  (Volume:47 ,  Issue: 5 )