Observer-based Strict Positive Real (SPR) Switching Output Feedback Control

Summary, in English

This paper considers switching output feedback control of linear systems and variablestructure systems. Theory for stability analysis and design for a class of observer-based feedback control systems is presented. It is shown how a circlecriterion approach can be used to design an observerbased state feedback control which yields a closedloop system with speci ed robustness characteristics. The approach is relevant for variable structure system design with preservation of stability when switching feedback control or sliding mode control is introduced in the feedback loop. It is shown that there exists a Lyapunov function valid over the total operating range and this Lyapunov function has also interpretation as a storage function of passivity-based control and a value function of an optimal control problem. The Lyapunov function can be found by solving a Lyapunov equation. Important applications are to be found in hybrid systems with switching control and variable structure systems with high robustness requirements.

• Author: Rolf Johansson; Anders Robertsson; Anton Shiriaev
• Department/s: Department of Automatic Control
• Publishing year: 2004
• Language: English
• Pages: 2811-2816
• Publication/Series: 2004 43rd IEEE Conference on Decision and Control (CDC)
• Volume: 3
• Full text: - 288 kB; Download statistics
• Links: http://ieeexplore.ieee.org/iel5/9774/30837/01428890.pdf?tp=&arnumber=1428890&isnumber=30837
• Document type: Conference paper
• Publisher: IEEE - Institute of Electrical and Electronics Engineers Inc.
• Topic: Control Engineering
• Keywords: Strict Positive Realness (SPR); Variable Structure Systems; Robustness; Observers; Stability
• Conference name: 43rd IEEE Conference on Decision and Control, 2004
• Conference date: 2004-12-14 - 2004-12-17
• Conference place: Nassau, Bahamas
• Status: Published
• Project: LU Robotics Laboratory
• ISBN/ISSN/Other: ISSN: 0191-2216; ISBN: 0-7803-8682-5