Output feedback stabilization of MIMO non-linear systems via dynamic sliding mode
✍ Scribed by Xiao-Yun Lu; Sarah K. Spurgeon
- Publisher
- John Wiley and Sons
- Year
- 1999
- Tongue
- English
- Weight
- 241 KB
- Volume
- 9
- Category
- Article
- ISSN
- 1049-8923
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✦ Synopsis
Previous work on asymptotic stabilization of MIMO non-linear systems using dynamic sliding mode control to produce dynamic state feedback has been generalized to dynamic output feedback. All the states in the feedback controller are replaced with estimated states which come from a semi-high-gain observer. The bound on the observer gain is explicitly given, which depends on some previously chosen design parameters. If the given differential input-output (I-O) system is minimum phase and proper, local uniform asymptotic output feedback stabilization can be achieved. In addition, the restriction on the stability of the zero dynamics has been relaxed to weakly minimum phase and semi-global results are obtained under some mild conditions. The stability of the closed-loop system is based on some stability results of triangular systems when continuous or discontinuous controllers are adopted. Two pertinent examples are given to illustrate the design method.