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Observer-based Strict Positive Real (SPR) Switching Output Feedback Control

Författare

Summary, in English

This paper considers switching output feedback control of linear systems and variablestructure systems. Theory for stability analysis and design for a class of observer-based feedback control systems is presented. It is shown how a circlecriterion approach can be used to design an observerbased state feedback control which yields a closedloop system with speci ed robustness characteristics. The approach is relevant for variable structure system design with preservation of stability when switching feedback control or sliding mode control is introduced in the feedback loop. It is shown that there exists a Lyapunov function valid over the total operating range and this Lyapunov function has also interpretation as a storage function of passivity-based control and a value function of an optimal control problem. The Lyapunov function can be found by solving a Lyapunov equation. Important applications are to be found in hybrid systems with switching control and variable structure systems with high robustness requirements.

Publiceringsår

2004

Språk

Engelska

Sidor

2811-2816

Publikation/Tidskrift/Serie

2004 43rd IEEE Conference on Decision and Control (CDC)

Volym

3

Dokumenttyp

Konferensbidrag

Förlag

IEEE - Institute of Electrical and Electronics Engineers Inc.

Ämne

  • Control Engineering

Nyckelord

  • Strict Positive Realness (SPR)
  • Variable Structure Systems
  • Robustness
  • Observers
  • Stability

Conference name

43rd IEEE Conference on Decision and Control, 2004

Conference date

2004-12-14 - 2004-12-17

Conference place

Nassau, Bahamas

Status

Published

Projekt

  • LU Robotics Laboratory

ISBN/ISSN/Övrigt

  • ISSN: 0191-2216
  • ISBN: 0-7803-8682-5