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Observer-based strict positive real (SPR) feedback control system design

Publiceringsår: 2002
Språk: Engelska
Sidor: 1517-1522
Publikation/Tidskrift/Serie: Non-Linear Control Systems 2001, vols 1-3
Dokumenttyp: Konferensbidrag
Förlag: Elsevier


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 robotics (force control) and nonlinear control in hybrid control. Copyright (C) 2001 IFAC.


  • Control Engineering
  • strict positive realness (SPR)
  • observers
  • stability
  • robustness


5th IFAC Symposium on Nonlinear Control Systems
  • ISSN: 0962-9505

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