A local separation principle via dynamic approximate feedback and observer linearization for a class of nonlinear systems
File(s)
Accepted version
Author(s)
Sassano, Mario
Astolfi, Alessandro
Type
Journal Article
Abstract
A separation principle for a class of nonlinear systems inspired by the techniques of feedback linearization and observer design with linear error dynamics is discussed. The output feedback construction combines strategies for approximate feedback linearization and observer design, which are of interest per se, yielding a dynamic control law that ensures a linear, spectrally assignable, behavior from the certainty equivalence input mismatch to the extended state of the system and the observer. The first ingredient, namely the approximate feedback linearization strategy, can be applied, under mild conditions, also to nonlinear systems that are linearly uncontrollable-or that do not possess a well-defined relative degree in the case of a given output function-yet providing a chain of integrators of length equal to the dimension of the state in the transformed coordinates. Interestingly, a systematically designed nonlinear inner loop enables the use of linear design techniques, e.g., pole placement. The observer design, on the other hand, employs an additional dynamic extension that allows us to assign the local dynamic behavior of the error dynamics independently from its zeros, differently from the classic high-gain observer design. The paper is concluded by presenting several numerical simulations, including an output tracking control problem for the Ball and Beam model that does not possess a well-defined relative degree.
Date Issued
2019-01-01
Date Acceptance
2018-02-05
Citation
IEEE Transactions on Automatic Control, 2019, 64 (1), pp.111-126
ISSN
0018-9286
Publisher
Institute of Electrical and Electronics Engineers
Start Page
111
End Page
126
Journal / Book Title
IEEE Transactions on Automatic Control
Volume
64
Issue
1
Copyright Statement
© 2018 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Sponsor
Commission of the European Communities
Identifier
http://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcApp=PARTNER_APP&SrcAuth=LinksAMR&KeyUT=WOS:000454251900008&DestLinkType=FullRecord&DestApp=ALL_WOS&UsrCustomerID=1ba7043ffcc86c417c072aa74d649202
Grant Number
664639
Subjects
Science & Technology
Technology
Automation & Control Systems
Engineering, Electrical & Electronic
Engineering
Feedback linearization
nonlinear systems
observers design
stability of NL systems
HIGH-GAIN OBSERVERS
OUTPUT-FEEDBACK
STATE-FEEDBACK
STABILIZATION
Publication Status
Published
Date Publish Online
2018-03-16