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Asymptotic output tracking through singular points for nonlinear systems: Stability, disturbance rejection and robustness
Author(s) -
Retchkiman Zvi,
Alvarez Jaime,
Castro Rafael
Publication year - 1995
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.4590050603
Subject(s) - control theory (sociology) , robustness (evolution) , nonlinear system , gravitational singularity , mathematics , exponential stability , tracking (education) , tracking error , stability (learning theory) , singularity , transformation (genetics) , computer science , control (management) , mathematical analysis , physics , artificial intelligence , psychology , pedagogy , biochemistry , chemistry , quantum mechanics , machine learning , gene
Abstract The problem of output tracking in the presence of singularities started by Hirschorn and Davis (1987) 2 is reexamined. A transformation which allows us to make a study of the closed‐loop stability of the nonlinear system is proposed. An error feedback control law relaxes the initial conditions imposed on the system and the function to be followed, obtaining asymptotic output tracking. A study of the singular tracking problem, when there exist disturbances or uncertainties in the dynamics, is also made. Again a stability analysis is carried out. Finally, the results obtained for the SISO case, to the MIMO case are extended.