Observer-based control of uncertain systems with non-linear uncertainties |
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Authors: | A. SABERI P. SANNUTI |
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Affiliation: | 1. Department of Electrical and Computer Engineering , Washington State University , Pullman, WA, 99164-2752, U.S.A;2. Department of Electrical and Computer Engineering , Rutgers University , P.O. Box 909, Piscataway, NJ, 08855-0909, U.S.A |
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Abstract: | Global asymptotic stabilization of nominally linear uncertain systems is considered where uncertain elements in the plant are modelled as cone bounded non-linearities. At first, a linear time-invariant state feedback law ensuring global asymptotic closed-loop stability is obtained. The algorithm which calculates such a feedback law is simple and straightforward. It does not involve repeated solutions of a parameter-dependent algebraic Riccati or any such non-linear equations. Any state feedback law thus developed can then be implemented via an observer specially designed to preserve the global asymptotic stability of the closed-loop system. |
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