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Global output-feedback tracking for a benchmark nonlinear system

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2 Author(s)
Z. -P. Jiang ; Dept. of Electr. Eng., Polytech. Univ., Brooklyn, NY, USA ; I. Kanellakopoulos

The output-feedback global tracking problem is solved for the well-known nonlinear benchmark RTAC (rotational-translational actuator) system, in which one of the unmeasured states appears quadratically in the state equations. Our observer/controller backstepping design yields a nonlinear output-feedback controller that forces the translational displacement to globally asymptotically track an appropriate time-varying signal. The proposed solution is new even for the case of global output-feedback stabilization, namely when the reference signal is zero

Published in:

IEEE Transactions on Automatic Control  (Volume:45 ,  Issue: 5 )