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New Directions in nonlinear observer design pp 335–350Cite as

Dynamic UCO controllers and semiglobal stabilization of uncertain nonminimum phase systems by output feedback

  • Part II Output Feedback Control Design
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Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 244))

Abstract

This chapter presented a simple design method by which it is possible to robustly stabilize, using output feedback, a significant class of uncertain nonlinear systems whose zero dynamics are unstable. The assumption made for such systems was shown to imply the existence of a stabilizing dynamic feedback that is driven by functions that are uniformly completely observable (UCO). In this light, the result for nonminimum phase nonlinear systems was shown to be a special case of the more general result that semiglobal practical asymptotic stabilization by dynamic UCO feedback implies semiglobal practical asymptotic stabilization by dynamic output feedback. The controllers developed in this chapter specifically for nonminimum phase nonlinear systems were compared and contrasted to the controllers that prove the general stabilization result.

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References

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Author information

Authors and Affiliations

  1. Department of Systems Science and Mathematics, Washington University, 63130, St. Louis, MO

    A. Isidori

  2. Dipartimento di Informatica e Sistemistica, Università di Roma “La Sapienza”, 00184, Rome, Italy

    A. Isidori

  3. Department of Electrical and Computer Engineering, University of California, 93106, Santa Barbara, CA, USA

    A. R. Teel

  4. Centre Automatique et Systèmes, École des Mines de Paris, 35 rue St. Honoré, 77305, Fontainebleau cédex, France

    L. Praly

Authors
  1. A. Isidori
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  2. A. R. Teel
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  3. L. Praly
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Editor information

H. Nijmeijer T.I. Fossen

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© 1999 Springer-Verlag London Limited

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Isidori, A., Teel, A.R., Praly, L. (1999). Dynamic UCO controllers and semiglobal stabilization of uncertain nonminimum phase systems by output feedback. In: Nijmeijer, H., Fossen, T. (eds) New Directions in nonlinear observer design. Lecture Notes in Control and Information Sciences, vol 244. Springer, London. https://doi.org/10.1007/BFb0109934

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  • DOI: https://doi.org/10.1007/BFb0109934

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  • Publisher Name: Springer, London

  • Print ISBN: 978-1-85233-134-4

  • Online ISBN: 978-1-84628-536-3

  • eBook Packages: Springer Book Archive

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