A robust stabilization using state feedback with feedforward

Kumeresan A. Danapalasingam, Anders La Cour-Harbo, Girish Chowdhary, Morten Bisgaard

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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 languageEnglish (US)
Title of host publicationProceedings of the 2010 American Control Conference, ACC 2010
Pages3913-3919
Number of pages7
StatePublished - Oct 15 2010
Externally publishedYes
Event2010 American Control Conference, ACC 2010 - Baltimore, MD, United States
Duration: Jun 30 2010Jul 2 2010

Publication series

NameProceedings of the 2010 American Control Conference, ACC 2010

Other

Other2010 American Control Conference, ACC 2010
CountryUnited States
CityBaltimore, MD
Period6/30/107/2/10

ASJC Scopus subject areas

  • Control and Systems Engineering

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    Danapalasingam, K. A., La Cour-Harbo, A., Chowdhary, G., & Bisgaard, M. (2010). A robust stabilization using state feedback with feedforward. In Proceedings of the 2010 American Control Conference, ACC 2010 (pp. 3913-3919). [5530655] (Proceedings of the 2010 American Control Conference, ACC 2010).