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Stability robustness of feedback linearisable systems with input unmodelled dynamics

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2 Author(s)
Tzamtzi, M.P. ; Dept. of Electr. & Comput. Eng., Nat. Tech. Univ. of Athens, Greece ; Tzafestas, S.G.

The stability robustness of a feedback linearisable system subject to unstructured uncertainty is studied, with respect to the concepts of local input-to-state stability (ISS), local input-to-output stability (IOS) and small-signal L2-stability. A nonlinear small-gain theorem for feedback interconnected systems that are characterised by both local ISS and IOS is established. This theorem is used to derive sufficient conditions for robust local ISS and IOS of the closed-loop system that is produced by the application of feedback linearising control to a nonlinear feedback linearisable system with unmodelled dynamics. Moreover, sufficient conditions for robust small-signal L2-stability are derived by employing both the aforementioned nonlinear small-gain theorem and the well known small-gain theorem for L 2-stability. The proposed are easily verifiable. A nontrivial illustrative example is included

Published in:

Control Theory and Applications, IEE Proceedings -  (Volume:146 ,  Issue: 1 )

Date of Publication:

Jan 1999

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