A local separation principle via dynamic approximate feedback and observer linearization for a class of nonlinear systems

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Title: A local separation principle via dynamic approximate feedback and observer linearization for a class of nonlinear systems
Authors: Sassano, M
Astolfi, A
Item 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.
Issue Date: 1-Jan-2019
Date of Acceptance: 5-Feb-2018
URI: http://hdl.handle.net/10044/1/66213
DOI: https://dx.doi.org/10.1109/TAC.2018.2816107
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/Funder: Commission of the European Communities
Funder's Grant Number: 664639
Keywords: 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
0906 Electrical And Electronic Engineering
0102 Applied Mathematics
0913 Mechanical Engineering
Industrial Engineering & Automation
Publication Status: Published
Online Publication Date: 2018-03-16
Appears in Collections:Faculty of Engineering
Electrical and Electronic Engineering



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