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Observer-based strict positive real (SPR) feedback control system design

Johansson, Rolf LU and Robertsson, Anders LU (2002) 5th IFAC Symposium on Nonlinear Control Systems p.1517-1522
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. Copyright (C) 2001 IFAC. (Less)
Please use this url to cite or link to this publication:
author
and
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
keywords
strict positive realness (SPR), observers, stability, robustness
host publication
Non-Linear Control Systems 2001, vols 1-3
pages
1517 - 1522
publisher
Elsevier
conference name
5th IFAC Symposium on Nonlinear Control Systems
conference location
St Petersburg, Russian Federation
conference dates
2001-07-04 - 2001-07-06
external identifiers
  • wos:000180779500267
  • scopus:0036721878
ISSN
0962-9505
project
LU Robotics Laboratory
language
English
LU publication?
yes
id
9a801fc4-cf69-4d41-bada-11fc69375700 (old id 1406943)
date added to LUP
2016-04-01 15:44:12
date last changed
2020-10-27 02:24:58
@inproceedings{9a801fc4-cf69-4d41-bada-11fc69375700,
  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. Copyright (C) 2001 IFAC.},
  author       = {Johansson, Rolf and Robertsson, Anders},
  booktitle    = {Non-Linear Control Systems 2001, vols 1-3},
  issn         = {0962-9505},
  language     = {eng},
  pages        = {1517--1522},
  publisher    = {Elsevier},
  title        = {Observer-based strict positive real (SPR) feedback control system design},
  year         = {2002},
}