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Observer-based Strict Positive Real (SPR) Feedback Control System Design

Johansson, Rolf LU orcid and Robertsson, Anders LU (2002) In Automatica 38(9). p.1557-1564
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 nonlinear control with high robustness requirements. (Less)
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author
and
organization
publishing date
type
Contribution to journal
publication status
published
subject
keywords
Strict positive realness (SPR), Robustness, Observers, Stability
in
Automatica
volume
38
issue
9
pages
1557 - 1564
publisher
Pergamon Press Ltd.
external identifiers
  • wos:000177558900011
ISSN
0005-1098
DOI
10.1016/S0005-1098(02)00044-4
project
RobotLab LTH
language
English
LU publication?
yes
id
6049df26-e0b7-435e-bf8c-62d888400ce3 (old id 162003)
date added to LUP
2016-04-01 16:18:32
date last changed
2022-01-28 18:44:57
@article{6049df26-e0b7-435e-bf8c-62d888400ce3,
  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 nonlinear control with high robustness requirements.}},
  author       = {{Johansson, Rolf and Robertsson, Anders}},
  issn         = {{0005-1098}},
  keywords     = {{Strict positive realness (SPR); Robustness; Observers; Stability}},
  language     = {{eng}},
  number       = {{9}},
  pages        = {{1557--1564}},
  publisher    = {{Pergamon Press Ltd.}},
  series       = {{Automatica}},
  title        = {{Observer-based Strict Positive Real (SPR) Feedback Control System Design}},
  url          = {{http://dx.doi.org/10.1016/S0005-1098(02)00044-4}},
  doi          = {{10.1016/S0005-1098(02)00044-4}},
  volume       = {{38}},
  year         = {{2002}},
}