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Static-state feedback laws for output regulation of non-linear systems

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Mahony, R. Mareels, I Bastin, Georges [UCL] Campion, Guy [UCL]

In this paper static-state feedback laws are considered which address the problem of output stabilization of non-linear dynamic control systems without drift. It is shown that as long as a dynamic-state control law exists which input-output decouples a given system, it is possible to construct a static-state control which stabilizes the system's output. The design procedure sheds light on the inherent difficulties in designing internally stable control laws for non-linear systems. To demonstrate the theory, it is applied to the task of designing an output stabilizing feedback for a simple model of a mobile robot.

Document type Communication à un colloque (Conference Paper) – Présentation orale avec comité de sélection
Access type Accès restreint
Publication date 1996
Language Anglais
Conference "IFAC Conference on System Structure and Control 1995", NANTES(France) (Jul 05-07, 1995)
Journal information "Control Engineering Practice" - Vol. 4, no. 7, p. 1009-1014 (1996)
Peer reviewed yes
issn 0967-0661
e-issn 1873-6939
Publisher Pergamon-elsevier Science Ltd (Oxford)
Affiliation UCL - FSA/INMA - Département d'ingénierie mathématique
Keywords Non-holonomic Systems ; Output Regulation ; Internal Stability
Links
Bibliographic reference Mahony, R. ; Mareels, I ; Bastin, Georges ; Campion, Guy. Static-state feedback laws for output regulation of non-linear systems.IFAC Conference on System Structure and Control 1995 (NANTES(France), Jul 05-07, 1995). In: Control Engineering Practice, Vol. 4, no. 7, p. 1009-1014 (1996)
Permanent URL http://hdl.handle.net/2078.1/62886