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Observer-Based SPR Feedback Control System Design

Johansson, Rolf LU and Robertsson, Anders LU (2002) In Nonlinear Control Systems 2001 p.1601-1606
Abstract
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... (More)
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. (Less)
Please use this url to cite or link to this publication:
author
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
keywords
strict positive realness (SPR), observers, stability, robustness
in
Nonlinear Control Systems 2001
pages
1601 - 1606
publisher
Elsevier
language
English
LU publication?
yes
id
1aafb6eb-1ccd-438c-a616-d5b947ea96a0 (old id 537853)
date added to LUP
2007-09-20 16:28:16
date last changed
2016-09-23 15:15:45
@misc{1aafb6eb-1ccd-438c-a616-d5b947ea96a0,
  abstract     = {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.},
  author       = {Johansson, Rolf and Robertsson, Anders},
  keyword      = {strict positive realness (SPR),observers,stability,robustness},
  language     = {eng},
  pages        = {1601--1606},
  publisher    = {ARRAY(0x997ad80)},
  series       = {Nonlinear Control Systems 2001},
  title        = {Observer-Based SPR Feedback Control System Design},
  year         = {2002},
}