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Observer-based Strict Positive Real (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 nonlinear control with high robustness requirements.

Publishing year

2002

Language

English

Pages

1557-1564

Publication/Series

Automatica

Volume

38

Issue

9

Document type

Journal article

Publisher

Pergamon Press Ltd.

Topic

  • Control Engineering

Keywords

  • Strict positive realness (SPR)
  • Robustness
  • Observers
  • Stability

Status

Published

Project

  • LU Robotics Laboratory

ISBN/ISSN/Other

  • ISSN: 0005-1098