### Abstract

In a general nonlinear control system a stabilizing control strategy is often possible if complete information on external inputs affecting the system is available. Assuming that measurements of persistent disturbances are available it is shown that the existence of a smooth uniform control Lyapunov function implies the existence of a stabilizing state feedback with feedforward control which is robust with respect to measurement errors and external disturbances. Conversely, using differential inclusions parameterized as nonlinear systems with state and disturbance measurement errors, it is shown that there exists a smooth uniform control Lyapunov function if there is a robustly stabilizing state feedback with feedforward. This paper demonstrates that if there exists a smooth control Lyapunov function for a general nonlinear system with persistent disturbances for which one has previously designed a feedback controller, a feedforward always exists to be augmented for stability.

Original language | English (US) |
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Title of host publication | Proceedings of the 2010 American Control Conference, ACC 2010 |

Pages | 3913-3919 |

Number of pages | 7 |

State | Published - Oct 15 2010 |

Externally published | Yes |

Event | 2010 American Control Conference, ACC 2010 - Baltimore, MD, United States Duration: Jun 30 2010 → Jul 2 2010 |

### Publication series

Name | Proceedings of the 2010 American Control Conference, ACC 2010 |
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### Other

Other | 2010 American Control Conference, ACC 2010 |
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Country | United States |

City | Baltimore, MD |

Period | 6/30/10 → 7/2/10 |

### ASJC Scopus subject areas

- Control and Systems Engineering

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## Cite this

*Proceedings of the 2010 American Control Conference, ACC 2010*(pp. 3913-3919). [5530655] (Proceedings of the 2010 American Control Conference, ACC 2010).