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Observer-Based SPR Feedback Control System Design

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Author

Summary, in English

This paper presents theory for stability analysis and design for a class of observer-based feedback control systems. Relaxation of the controllability and observability conditions imposed in the Yakubovich-Kalman-Popov (YKP) lemma can be made for a class of nonlinear systems described by a linear time-invariant system (LTI) with a feedback-connected cone-bounded nonlinear element. It is shown how a circle-criterion approach can be used to design an observer-based state feedback control which yields a closed-loop system with specified robustness characteristics. The approach is relevant for design with preservation of stability when a cone-bounded nonlinearity is introduced in the feedback loop. Important applications are to be found in robotics (force control) and nonlinear control in hybrid control.

Publishing year

2002

Language

English

Pages

1601-1606

Publication/Series

Nonlinear Control Systems 2001

Document type

Conference paper

Publisher

Elsevier

Topic

  • Control Engineering

Keywords

  • strict positive realness (SPR)
  • observers
  • stability
  • robustness

Status

Published

Project

  • LU Robotics Laboratory