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Nonlinear output feedback tracking with almost disturbance decoupling

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2 Author(s)
R. Marino ; Dipt. di Ingegneria Elettronica, Univ. di Roma Tor Vergata, Italy ; P. Tomei

Addresses the design of global output feedback controls for a class of uncertain nonlinear single-input/single-output systems which are globally transformable into an observable minimum phase system whose nonlinearities depend on the output only. They may be affected by unknown time-varying disturbances or parameter variations entering linearly in the state equations. The proposed dynamic controller is of order ρ-1 (ρ is the relative degree of the given system) and ensures that the closed-loop system enjoys for any initial condition and for any smooth bounded output reference signal (with bounded time derivatives up to order ρ) the following properties: input-to-state stability with respect to disturbance inputs and almost disturbance decoupling, i.e., the influence of disturbances both on the L 2 and on the L norm of the output tracking error is arbitrarily attenuated by increasing a positive scalar control parameter. When disturbances are zero the reference signal is exponentially tracked by the output and the equilibrium point corresponding to the reference signal is globally asymptotically stable.

Published in:

IEEE Transactions on Automatic Control  (Volume:44 ,  Issue: 1 )