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Certainty-equivalence output-feedback design with circle-criterion observers

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1 Author(s)
Arcak, M. ; Dept. of Electr., Rensselaer Polytech. Inst., Troy, NY, USA

We study how the class of observers introduced in a previous paper, here referred to as circle-criterion observers, can be incorporated in output-feedback control. Due to the absence of a controller-observer separation property for nonlinear systems, the certainty-equivalence implementation of a state-feedback design may lead to severe forms of instability. We show, on the contrary, that the state-dependent convergence properties of circle-criterion observers can prevent such instabilities. Exploiting these convergence properties we develop a modified circle-criterion observer design that guarantees global asymptotic stability for certainty-equivalence controllers.

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Automatic Control, IEEE Transactions on  (Volume:50 ,  Issue: 6 )