Title: Robust practical output tracking by dynamic output feedback for uncertain non-linear systems with unstabilisable and undetectable linearisation

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 global robust practical output tracking problem using a dynamic output feedback controller (i.e., an output compensator) for a family of uncertain non-linear systems whose Jacobian linearisation may be unstabilisable and/or undetectable. It is shown that under some mild conditions on a given system, there is an output compensator achieving global robust practical output tracking and such a compensator is explicitly constructed by the |coupled controller-observer method| recently proposed. The usefulness of our result is illustrated by some simple numerical examples.

Keywords: practical output tracking; dynamic output feedback; coupled controller-observer method; uncertain nonlinear systems; output compensator.

DOI: 10.1504/IJMIC.2008.021770

International Journal of Modelling, Identification and Control, 2008 Vol.5 No.1, pp.1 - 13

Published online: 03 Dec 2008 *

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