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Practical Output Regulation of Uncertain Strict‐Feedback Form Systems
Author(s) -
Montaseri Ghazal,
Yazdanpanah Mohammad Javad
Publication year - 2012
Publication title -
asian journal of control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.769
H-Index - 53
eISSN - 1934-6093
pISSN - 1561-8625
DOI - 10.1002/asjc.388
Subject(s) - control theory (sociology) , observer (physics) , nonlinear system , separation principle , controller (irrigation) , bounded function , output feedback , nonlinear control , control engineering , state (computer science) , feedback control , computer science , mode (computer interface) , control (management) , strict feedback form , full state feedback , sliding mode control , state observer , mathematics , engineering , artificial intelligence , adaptive control , backstepping , algorithm , mathematical analysis , physics , quantum mechanics , agronomy , biology , operating system
In this paper, an output feedback control is proposed to solve the practical output regulation problem of a class of nonlinear systems. In the first step of the design procedure, two sets of coordinate transformations are used to convert the output regulation problem of the system in the strict‐feedback form into the regulation problem of the transformed system in the uncertain normal form. Then, for the resulting system, a state feedback in the cast of nested sliding mode control is designed. Finally, by using the nonlinear separation principle, the output feedback controller is achieved by substituting the estimated states, resulting from the high‐gain observer, instead of real states. It can be shown that the states of the closed‐loop system are ultimately bounded. Copyright © 2011 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society