Disturbance attenuating output-feedback control of nonlinear systems with local optimality

Kenan Ezal, Petar V. Kokotović, Andrew R. Teel, Tamer Başar

Research output: Contribution to journalArticlepeer-review

Abstract

Locally optimal backstepping is extended to output-feedback systems with input disturbances and nonlinearities that depend only on the measured output. The constructive design blends worst-case filtering with backstepping, and results in a disturbance attenuating dynamic output-feedback controller that achieves semiglobal inverse optimality and local near-optimality.

Original languageEnglish (US)
Pages (from-to)805-817
Number of pages13
JournalAutomatica
Volume37
Issue number6
DOIs
StatePublished - Jun 2001

Keywords

  • Backstepping
  • Disturbance attenuation
  • Dynamic output-feedback
  • Inverse optimality
  • Local optimality
  • Nonlinear systems
  • Robust control

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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