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Observer-based Strict Positive Real (SPR) Feedback Control System Design

In English

Författare

Summary, in English

This paper presents theory for stability analysis and design for a class of observer-based feedback control systems. Relaxation of the controllability and observability conditions imposed in the Yakubovich-Kalman-Popov (YKP)lemma can be made for a class of nonlinear systems described by a linear time-invariant system (LTI) with a feedback-connected cone-bounded nonlinear element. It is shown how a circle-criterion approach can be used to design an observer-based state feedback control which yields a closed-loop system with specified robustness characteristics. The approach is relevant for design with preservation of stability when a cone-bounded nonlinearity is introduced in the feedback loop. Important applications are to be found in nonlinear control with high robustness requirements.

Publiceringsår

2002

Språk

Engelska

Sidor

1557-1564

Publikation/Tidskrift/Serie

Automatica

Volym

38

Issue

9

Dokumenttyp

Artikel i tidskrift

Förlag

Pergamon Press Ltd.

Ämne

  • Control Engineering

Nyckelord

  • Strict positive realness (SPR)
  • Robustness
  • Observers
  • Stability

Status

Published

Projekt

  • LU Robotics Laboratory

ISBN/ISSN/Övrigt

  • ISSN: 0005-1098