NDLI: Adaptive output feedback control of nonlinear systems represented by input-output models

Content Provider	IEEE Xplore Digital Library
Author	Khalil, H.K.
Copyright Year	1994
Description	Author affiliation: Dept. of Electr. Eng., Michigan State Univ., East Lansing, MI, USA (Khalil, H.K.)
Abstract	We consider a single-input-single-output nonlinear system which can be represented globally by an explicit input-output model. The system is input-output linearizable by feedback and is required to satisfy a minimum phase condition. The nonlinearities are not required to satisfy any global growth condition. The model depends linearly on unknown parameters which belong to a known compact, convex set. We design a semiglobal adaptive output feedback controller which ensures that the output of the system tracks any given reference signal which is bounded and has bounded derivatives up to the (n+l)th order, where n is the order of the system. The reference signal and its derivatives are assumed to belong to a known compact set. It is also assumed to be sufficiently rich to satisfy a persistence of excitation condition. The design process is simple. First we assume that the output and its derivatives are available for feedback and design the adaptive controller as a state feedback controller in appropriate coordinates. Then we saturate the controller outside a domain of interest and use a high-gain observer to estimate the derivatives of the output. We prove, via asymptotic analysis, that when the speed of the high-gain observer is sufficiently high, the adaptive output feedback controller recovers the performance achieved under the state feedback one.<>
Starting Page	199
Ending Page	204
File Size	486376
Page Count	6
File Format	PDF
ISBN	0780319680
DOI	10.1109/CDC.1994.411021
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1994-12-14
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Programmable control Adaptive control Output feedback Nonlinear control systems Control systems Nonlinear systems State feedback Observers Signal design Process design
Content Type	Text
Resource Type	Article

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