On the minimal robust servo-regulator for nonlinear systems
β Scribed by Jie Huang
- Publisher
- Elsevier Science
- Year
- 1995
- Tongue
- English
- Weight
- 508 KB
- Volume
- 26
- Category
- Article
- ISSN
- 0167-6911
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π SIMILAR VOLUMES
We consider a single-input single-output nonlinear system which has a well-de"ned normal form with asymptotically stable zero dynamics. We study the design of a robust output feedback controller that incorporates a linear servo compensator to achieve asymptotic tracking and disturbance rejection. We
In the Lyapunov approach employed in this paper, known in the literature as Lyapunov control, or minmar control, robust, global uniform asymptotic stability is achieved by a discontinuous control law which ensures that the Lyapunov derivative is negative despite bounded uncertainty. For that, it is