Robust semi-global stabilization of minimum-phase input-output linearizable systems via partial state and output feedback

2005 ◽  
Author(s):  
Zongli Lin ◽  
A. Saberi
Keyword(s):  
Output Feedback ◽  
Global Stabilization ◽  
Minimum Phase ◽  
Input Output ◽  
Partial State

Approximate Input-Output Feedback Linearization of Non-Minimum Phase System using Vanishing Perturbation Theory

2015 ◽  
pp. 173-201
Author(s):  
Monia Charfeddine ◽  
Khalil Jouili ◽  
Naceur Benhadj Braiek
Keyword(s):  
Perturbation Theory ◽  
Output Feedback ◽  
Feedback Linearization ◽  
Main Idea ◽  
Input State ◽  
Phase System ◽  
Minimum Phase ◽  
Input Output ◽  
Approximate System ◽  
System Input

The inverse of a non-minimum-phase system being unstable, standard input-output feedback linearization is not effective to control such systems. In this chapter is a presentation of a new tracking control method for the nonlinear non-minimum-phase system. Indeed, the main idea here is to dismiss a part of system dynamics in order to make the approximate system input-state feedback linearizable. The neglected part is then considered as a perturbation part that vanishes at the origin. Finally, a linear controller is designed to control the approximate system. Stability is analyzed using the vanishing perturbation theory. The efficacy and usage of the proposed approach is evaluated in an illustrative inverted cart-pendulum example.

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