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Output feedback control of a class of nonminimum‐phase nonlinear systems
Author(s) -
Lin Wei,
Wei Jianfeng
Publication year - 2016
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.3522
Subject(s) - control theory (sociology) , nonlinear system , lipschitz continuity , cascade , controller (irrigation) , output feedback , inverse , minimum phase , nonlinear control , inverse dynamics , computer science , phase (matter) , control (management) , mathematics , engineering , mathematical analysis , agronomy , physics , geometry , quantum mechanics , artificial intelligence , chemical engineering , biology , chemistry , organic chemistry , kinematics , classical mechanics
Summary The problem of global stabilization by output feedback is investigated in this paper for a class of nonminimum‐phase nonlinear systems. The system under consideration has a cascade configuration that consists of a driven system known as the inverse dynamics and a driving system. It is proved that although the zero dynamics may be unstable, there is an output feedback controller, globally stabilizing the nonminimum‐phase system if both driven and driving systems have a lower‐triangular form and satisfy a Lipschitz‐like condition, and the inverse dynamics satisfy a stronger version of input‐to‐state stabilizability condition. A design procedure is provided for the construction of an n ‐dimensional dynamic output feedback compensator. Examples and simulations are also given to validate the effectiveness of the proposed output feedback controller. Copyright © 2016 John Wiley & Sons, Ltd.