This paper addresses the challenging problem of output feedback stabilization for nonlinear nonminimum phase (NMP) systems in the presence of parametric uncertainties and external disturbances. The proposed framework integrates three distinct observers: a reduced-order observer for reconstructing the unmeasured states of the internal (zero) dynamics, a high-gain observer for estimating output derivatives, and an observer for estimating the aggregated effect of parametric uncertainties and disturbances. Leveraging these estimates, a sliding mode control law is synthesized to ensure global asymptotic stability of the entire system using only output measurements. The control design requires only partial model knowledge, significantly relaxing the restrictive assumptions common in existing literature. Numerical simulations illustrate the effectiveness of the proposed output-feedback strategy and corroborate the theoretical developments.
This paper investigates the problem of observer-based stabilization for a class of nonlinear fractional-order systems affected by bounded disturbances. The considered nonlinearities satisfy the quasi-one-sided Lipschitz condition, which generalizes the classical one-sided Lipschitz property and allows treating a broade...
S. Kasmi· Archives of Control Sciences· 0 citations
A nonadaptive design that combines an input-driven filter and a generic internal model with a recursive backstepping law is developed, thereby recasting the regulation problem as the robust input-to-state stabilization of an augmented error system.
Shi-Min Wang, M. Guay, Richard D. Braatz· 0 citations
Communication delays are inherent in networked control systems and may significantly affect closed-loop performance. This paper investigates the impact of external perturbations in observer-based linear systems with delayed measurements and control signals using the output-to-output gain (OOG) framework. By employing d...
In this paper, we consider uncertain high-order nonlinear systems performing dynamic tracking tasks under hard actuator constraints, where only the output error is available for measurement, while the system states and the desired trajectory derivatives are unavailable for feedback. We propose a robust output-feedback...
Panagiotis S. Trakas, Charalampos P. Bechlioulis· 0 citations
This paper investigates the output regulation problem using an observer-based inverse optimal controller within the nonlinear servomechanism framework for asymptotic convergence to desired references and rejection of time-varying disturbances generated by an exosystem. To address the practical constraint of full-state...
This paper addresses asymptotic tracking with prescribed transient and steady-state performance for a class of uncertain high-order nonlinear systems with uncertain dynamics. The proposed controller combines a barrier-type transformation of a filtered tracking error with a robust integral of the sign of the error (RISE...
Athanasios K. Gkesoulis, Christos K. Verginis, G. Karras et al.· 0 citations
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