Observer-Based Strictly Positive Real (SPR) Variable Structure Output Feedback Control

Summary, in English

This paper considers switching output feedback control of linear systems and variable structure systems. Theory for stability analysis and design for a class of observer-based feedback control systems is presented. 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 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. The Lyapunov function can be found by solving a Lyapunov equation, which also generates variable structure switching surfaces. Important applications are to be found in variable structure systems with high robustness requirements.

• Author: Rolf Johansson; Anders Robertsson; Anton Shiriaev
• Department/s: Department of Automatic Control; ELLIIT: the Linköping-Lund initiative on IT and mobile communication
• Publishing year: 2012
• Language: English
• Pages: 452-457
• Publication/Series: 2012 12th International Workshop on Variable Structure Systems (VSS)
• Full text: - 365 kB; Download statistics
• Links: http://dx.doi.org/10.1109/VSS.2012.6163544
• Document type: Conference paper
• Publisher: IEEE - Institute of Electrical and Electronics Engineers Inc.
• Topic: Control Engineering
• Conference name: 12th International Workshop on Variable Structure Systems (VSS2012)
• Conference date: 2012-01-12
• Status: Published
• Project: LU Robotics Laboratory; Active Control 2010-2012; Stable Oscillations in Nonlinear Systems 2009-2010
• Research group: LCCC
• ISBN/ISSN/Other: ISBN: 978-1-4577-2066-6