Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Output Feedback Stabilization of Non-Minimum phase Nonlinear Systems

비최소위상 비선형 시스템의 출력궤환 안정화

  • 조남훈 (숭실대학교 전기제어시스템공학부)
  • Published : 2003.12.01
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Abstract

An output feedback stabilizing controller far non-minimum phase nonlinear systems is presented. We first perform the standard input-output linearization of the system and then transform the zero dynamics into a special normal form in which the antistable part is not affected by the stable part and the antistable part is given in approximately linear form. Under the assumption that the nonlinear system satisfies the observability rank condition, we can design an observer f3r the extended system that is made of the augmentation of a chain of integrators. The proposed output feedback stabilizing controller can then be designed by combining the observer and the state feedback controller.

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References

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