A note on the robustness of high-gain-observer-based controllers to unmodeled actuator and sensor dynamics |
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Authors: | Hassan K Khalil |
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Affiliation: | Department of Electrical and Computer Engineering, Michigan State University, Room 2120 Eng. Bldg., East Lansing, MI 48824-1226, USA |
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Abstract: | It is shown that a nonlinear output feedback stabilizing controller, which combines a globally bounded state feedback controller with a high-gain observer, is robust with respect to unmodeled fast actuator and sensor dynamics. The actuator and sensor dynamics need to be sufficiently fast relative to the dynamics of the nominal closed-loop system under state feedback, but they need not be faster than the observer dynamics. |
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Keywords: | Actuators High-gain observers Nonlinear control Robustness to modeling errors Sensors Singular perturbation methods |
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