Observer-Based SPR Feedback Control System Design
(2002) 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:
https://lup.lub.lu.se/record/537853
- author
- Johansson, Rolf LU and Robertsson, Anders LU
- organization
- publishing date
- 2002
- type
- Chapter in Book/Report/Conference proceeding
- publication status
- published
- subject
- keywords
- strict positive realness (SPR), observers, stability, robustness
- host publication
- Nonlinear Control Systems 2001
- pages
- 1601 - 1606
- publisher
- Elsevier
- project
- RobotLab LTH
- language
- English
- LU publication?
- yes
- id
- 1aafb6eb-1ccd-438c-a616-d5b947ea96a0 (old id 537853)
- date added to LUP
- 2016-04-04 11:58:11
- date last changed
- 2019-12-11 09:36:46
@inproceedings{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}}, booktitle = {{Nonlinear Control Systems 2001}}, keywords = {{strict positive realness (SPR); observers; stability; robustness}}, language = {{eng}}, pages = {{1601--1606}}, publisher = {{Elsevier}}, title = {{Observer-Based SPR Feedback Control System Design}}, year = {{2002}}, }