In this paper we show that if a certain class of nonlinear systems is globally asymptotically stabilizable through an n-dimensional output feedback controller then it can be always stabilized through an (n − p)-dimensional output feedback controller, where p is the number of outputs and n is the dimension of the state space. This result gives an alternative construction of reduced order controllers for linear systems, and recovers in a more general framework the concept of dirty derivative, used in the framework of rigid and elastic joint robots, and gives an alternative procedure for designing reduced-order controllers for nonlinear systems considered in the existing literature.
A note on reduced order dynamic output feedback stabilizing controllers / Battilotti, Stefano. - In: SYSTEMS & CONTROL LETTERS. - ISSN 0167-6911. - STAMPA. - 30:2-3(1997), pp. 71-81. [10.1016/S0167-6911(96)00077-1]
A note on reduced order dynamic output feedback stabilizing controllers
BATTILOTTI, Stefano
1997
Abstract
In this paper we show that if a certain class of nonlinear systems is globally asymptotically stabilizable through an n-dimensional output feedback controller then it can be always stabilized through an (n − p)-dimensional output feedback controller, where p is the number of outputs and n is the dimension of the state space. This result gives an alternative construction of reduced order controllers for linear systems, and recovers in a more general framework the concept of dirty derivative, used in the framework of rigid and elastic joint robots, and gives an alternative procedure for designing reduced-order controllers for nonlinear systems considered in the existing literature.File | Dimensione | Formato | |
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