Output feedback stabilization for stochastic nonlinear systems in observer canonical form with stable zero-dynamics |
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Authors: | PAN Zigang LIU Yungang Shi Songjiao |
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Affiliation: | Department of Automation, Shanghai Jiao Tong University, |
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Abstract: | In this paper, we study the problem of output feedback stabilization for stochastic nonlin-ear systems. We consider a class of stochastic nonlinear systems in observer canonical form with sta-ble zero-dynamics. We introduce a sequence of state transformations that transform the system into a lower triangular structure that is amenable for integrator backstepping design. Then we design the out-put-feedback controller and prove that the closed-loop system is bounded in probability. Furthermore, when the disturbance vector field vanishes at the origin, the closed-loop system is asymptotically stable in the large. With special care, the controller preserves the equilibrium of the nonlinear system. An ex-ample is included to illustrate the theoretical findings. |
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Keywords: | observer canonical form integrator backstepping zero dynamics asymptotic stability in the large |
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