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A design method of output feedback servo-controllers for nonlinear systems

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4 Author(s)
M. Rayase ; Dept. of Mech. Syst. Eng., Tokyo Univ. of Agric. & Technol., Japan ; E. Rijanto ; H. Matsuno ; N. Moran

This paper presents a novel method for designing output feedback servo-controllers for nonlinear systems. First, a design method of state feedback regulators for nonlinear systems is derived based on the Hamilton-Jacobi optimality conditions for cost functions with quadratic structure. Second, observers of nonlinear systems are designed, and the output feedback servo-controller is designed by combining the regulator and observer. The validity of the proposed method has been verified through simulations using a two link robot arm

Published in:

Industrial Technology, 1996. (ICIT '96), Proceedings of The IEEE International Conference on

Date of Conference:

2-6 Dec 1996