Journal
AUTOMATICA
Volume 41, Issue 9, Pages 1609-1615Publisher
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.automatica.2005.04.013
Keywords
nonlinear control; output feedback; reduced-order observers; robustness to uncertainties; nonlinear small gain
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The problem of global output-feedback stabilization for a class of nonlinear systems whose zero dynamics are not necessarily stable is addressed in this paper. It is shown that, using a novel observer design tool together with standard backstepping and small-gain techniques, it is possible to design a stabilizing output feedback controller which ensures robustness with respect to dynamic uncertainties. The proposed stabilization method generalizes existing tools in several directions. As an example, the method is applied to the stabilization of the benchmark translational oscillator/rotational actuator (TORA) using only measurements of the rotational position. (c) 2005 Elsevier Ltd. All rights reserved.
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