An Observer-Based Composite Nonlinear Feedback Controller for Robust Tracking of Uncertain Nonlinear Singular Systems With Input Saturation

This study proposes an observer-based Composite Nonlinear Feedback (CNF) controller for the robust tracking of uncertain singular systems with input saturation, nonlinear function, time-delay, and disturbances. The suggested control law is designed based states reconstructed using a observer so as to increase steady-state accuracy improve robustness. CNF developed on Generalized Riccati Equations (GRE) Lyapunov–Krasovskii functional. Additionally, proposed theorem verifies stability conditions system in presence uncertainties Among advantages this method, are its fewer restrictive assumptions, transient high-speed performance improvement precision. uniform boundedness error saturation external disturbances also prominent feature method. approach assessed simulation study.