In this paper, we give suﬃcient conditions for designing robust globally stabilizing controllers for a class ofuncertain systems, consisting of ‘nominal’ nonlinear minimum phase systems perturbed by uncertainties which may aﬀect the equilibrium point of the nominal system (‘biased’ systems). The constructive proof combines a systematic step-by-step procedure, based on H_infty arguments, with a small gain theorem, recently proved for nonlinear systems. At each step, one ﬁnds two Lyapunov functions, one for a state-feedback problem and the other one for an output injection problem. Combining these two functions, one derives at each step a Lyapunov function candidate for solving an output feedback stabilization problem. This approach allows one to put into a uniﬁed framework many existing results on robust output feedback stabilization.
|Titolo:||Robust output feedback stabilization via a small gain theorem|
BATTILOTTI, Stefano (Corresponding)
|Data di pubblicazione:||1998|
|Appare nella tipologia:||01a Articolo in rivista|