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

Johansson, Rolf LU orcid and Robertsson, Anders LU (2001) In IFAC Proceedings Volumes 34(6). 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. (Less)
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Contribution to journal
publication status
published
subject
in
IFAC Proceedings Volumes
volume
34
issue
6
pages
6 pages
publisher
Elsevier
DOI
10.1016/S1474-6670(17)35404-6
project
Lund Research Programme in Autonomous Robotics, 1998-2001
language
English
LU publication?
yes
id
6b2f1c39-83c0-47d8-81f4-f2e6afbbe01b
date added to LUP
2022-06-21 10:42:12
date last changed
2022-09-07 11:45:01
@article{6b2f1c39-83c0-47d8-81f4-f2e6afbbe01b,
  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}},
  language     = {{eng}},
  number       = {{6}},
  pages        = {{1517--1522}},
  publisher    = {{Elsevier}},
  series       = {{IFAC Proceedings Volumes}},
  title        = {{Observer-Based Strict Positive Real (SPR) Feedback Control System Design}},
  url          = {{http://dx.doi.org/10.1016/S1474-6670(17)35404-6}},
  doi          = {{10.1016/S1474-6670(17)35404-6}},
  volume       = {{34}},
  year         = {{2001}},
}