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Integrator forwarding: A new recursive nonlinear robust design

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Sepulchre, Rodolphe [UCL] Jankovic, M Kokotovic, PV

We consider the global stabilization of nonlinear systems in strict feedforward form. We show that these systems, while not feedback linearizable, can be (globally) transformed by feedback and diffeomorphism into lower-triangular form. The transformation is explicit and recursive. We employ this transformation to design a globally stabilizing controller with optimality properties and an input-to-state stability property with respect to matched uncertainties. (C) 1997 Elsevier Science Ltd.

Document type Communication à un colloque (Conference Paper) – Présentation orale avec comité de sélection
Access type Accès restreint
Publication date 1997
Language Anglais
Conference "13th International-Federation-of-Automatic-Control World Congress", SAN FRANCISCO(Ca) (Jun 30-jul 05, 1996)
Journal information "Automatica" - Vol. 33, no. 5, p. 979-984 (1997)
Peer reviewed yes
issn 0005-1098
e-issn 1873-2836
Publisher Pergamon-elsevier Science Ltd (Oxford)
Affiliation UCL - Autre
Keywords Nonlinear Systems ; Global Stabilization ; Design Methods ; Feedforward Systems
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Bibliographic reference Sepulchre, Rodolphe ; Jankovic, M ; Kokotovic, PV. Integrator forwarding: A new recursive nonlinear robust design.13th International-Federation-of-Automatic-Control World Congress (SAN FRANCISCO(Ca), Jun 30-jul 05, 1996). In: Automatica, Vol. 33, no. 5, p. 979-984 (1997)
Permanent URL http://hdl.handle.net/2078.1/62744