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Feedforward Systems With ISS Appended Dynamics: Adaptive Output-Feedback Stabilization and Disturbance Attenuation

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2 Author(s)
P. Krishnamurthy ; Dept. of Electr. & Comput. Eng., Polytech. Univ., Brooklyn, NY ; F. Khorrami

We propose an adaptive output-feedback control design technique for a class of feedforward systems with input-to-state stable (ISS) appended dynamics and disturbance inputs. The design is based on our recent results on the application of dynamic high-gain scaling to state-feedback and output-feedback control of feedforward systems. In this paper, we further investigate the robustness properties of the dynamic high-gain scaling approach by introducing exogenous disturbance inputs and the ISS appended dynamics that are coupled with all the system states and the input. The designed adaptive output-feedback controller achieves bounded-input-bounded-state stability with respect to disturbance inputs and also provides a disturbance attenuation result.

Published in:

IEEE Transactions on Automatic Control  (Volume:53 ,  Issue: 1 )