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Observer-based control of systems with slope-restricted nonlinearities

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2 Author(s)
M. Arcak ; Dept. of Electr. Comput. & Syst. Eng., Rensselaer Polytech. Inst., Troy, NY, USA ; P. Kokotovic

An observer design is presented which makes use of bounds on the slope of system nonlinearities. Necessary and sufficient conditions are derived for the feasibility of the design. A class of state feedback control laws are characterized which, when implemented with the observer states, ensure global asymptotic stability. One such certainty-equivalence design is illustrated on an active magnetic bearing example

Published in:

IEEE Transactions on Automatic Control  (Volume:46 ,  Issue: 7 )