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On the effect of perturbations on the stability of input–output linearizing controllers for a class of discrete-time nonlinear systems

✍ Scribed by César Cruz-Hernández; Joaquín Alvarez-Gallegos; Rafael Castro-Linares

Publisher
John Wiley and Sons
Year
1998
Tongue
English
Weight
122 KB
Volume
8
Category
Article
ISSN
1049-8923

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✦ Synopsis

An analysis of the effect of parameter perturbations on the stability of input-output linearizing controllers for a class of MIMO discrete-time nonlinear systems is presented. A static-state feedback is designed to input-output linearize a system without perturbations, and it is applied to the same system with an uncertain parameter vector, thus introducing an uncertain parameter term in the nominal input-output linearized system. It is shown that the state trajectories of the closed-loop perturbed system are ultimately bounded provided the closed-loop nominal system is exponentially stable and some conditions on the bounds of the perturbation terms are satisfied.

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## Abstract In this paper, we develop a direct adaptive control framework for a class of linear discrete‐time uncertain multi‐input–multi‐output (MIMO) systems with exogenous bounded disturbances. The proposed adaptive controller guarantees adaptive stabilization, while the controller does not requ