EFFECT OF UNMODELED ACTUATOR DYNAMICS ON OUTPUT-FEEDBACK STABILIZATION OF NONLINEAR-SYSTEMS

Authors
ALDHAHERI RW KHALIL HK
Citation
Rw. Aldhaheri et Hk. Khalil, EFFECT OF UNMODELED ACTUATOR DYNAMICS ON OUTPUT-FEEDBACK STABILIZATION OF NONLINEAR-SYSTEMS, Automatica, 32(9), 1996, pp. 1323-1327
Citations number
6
Categorie Soggetti
Controlo Theory & Cybernetics","Robotics & Automatic Control
Journal title
Automatica → ACNP
ISSN journal
00051098
Volume
32
Issue
9
Year of publication
1996
Pages
1323 - 1327
Database
ISI
SICI code
0005-1098(1996)32:9<1323:EOUADO>2.0.ZU;2-U
Abstract
The effect of unmodeled fast actuator dynamics on the output feedback stabilization of feedback-linearizable systems is studied. It is shown that if the actuator dynamics are sufficiently fast, the output feedb ack controller will stabilize the origin of the actual system. Moreove r, it is shown that the actuator dynamics need not be faster than the observer dynamics. Copyright (C) 1996 Elsevier Science Ltd.