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

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

doi:10.1016/S0005-1098(01)00024-3

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 journal › Article › peer-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 language	English (US)
Pages (from-to)	805-817
Number of pages	13
Journal	Automatica
Volume	37
Issue number	6
DOIs	https://doi.org/10.1016/S0005-1098(01)00024-3
State	Published - 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

Online availability

10.1016/S0005-1098(01)00024-3

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title = "Disturbance attenuating output-feedback control of nonlinear systems with local optimality",

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.",

keywords = "Backstepping, Disturbance attenuation, Dynamic output-feedback, Inverse optimality, Local optimality, Nonlinear systems, Robust control",

author = "Kenan Ezal and Kokotovi{\'c}, {Petar V.} and Teel, {Andrew R.} and Tamer Ba{\c s}ar",

note = "This research was supported in part by the National Science Foundation under Grants ECS-9812346 and ECS-9896140, the Air Force Office of Scientific Research under Grants F49620-95-1-0409 and F49620-98-1-0087, and the U.S. Department of Energy under Grant DE-FG-02-97-ER-13939.",

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AU - Ezal, Kenan

AU - Kokotović, Petar V.

AU - Teel, Andrew R.

AU - Başar, Tamer

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N2 - 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.

AB - 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.

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KW - Disturbance attenuation

KW - Dynamic output-feedback

KW - Inverse optimality

KW - Local optimality

KW - Nonlinear systems

KW - Robust control

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

Abstract

Keywords

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