Title: Robust practical output tracking by output compensator for a class of uncertain inherently non-linear systems

Authors: Keylan Alimhan, Hiroshi Inaba

Addresses: Department of Information Sciences, Tokyo Denki University, Hatoyama-machi, Hiki-gun, Saitama 350-0394, Japan. ' The 21st Century COE Program, Tokyo Denki University, Hatoyama-machi, Hiki-gun, Saitama 350-0394, Japan

Abstract: This paper studies the robust practical output tracking problem using a dynamic output feedback controller (called an output compensator) for a family of uncertain inherently non-linear systems in the p-normal form of a particularly complex nature such that their linearisation around the equilibrium state may be unstabilisable and/or undetectable. It is shown that under some mild conditions on such a given system, it is possible to construct an output compensator achieving the robust practical output tracking and such a compensator is explicitly constructed by the coupled controller-observer design methods recently proposed. The usefulness of the result obtained is illustrated by a simple numerical example.

Keywords: practical output tracking; dynamic output feedback; coupled controller-observer design; homogeneous domination; nonlinear systems; output compensator; feedback control.

DOI: 10.1504/IJMIC.2008.021470

International Journal of Modelling, Identification and Control, 2008 Vol.4 No.4, pp.304 - 314

Published online: 28 Nov 2008 *

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