Output Regulation of Uncertain Nonaffine in Control Systems Via Singular Perturbation Technique
نویسنده
چکیده
The problem of output regulation for nonlinear control systems with guaranteed transient performances in the presence of uncertainties is discussed, where the nonlinear systems are nonaffine in the control. The fast dynamical controller with the highest output derivative in feedback loop is used, where the controller is proper and can be implemented without ideal differentiation. Two-time-scale motions are induced in the closed-loop system and the method of singular perturbations is used to analyze the closed-loop system properties. Stability conditions imposed on the fast and slow modes and sufficiently large mode separation rate can ensure that the full-order closed-loop system achieves the desired properties in such a way that the output transient performances are desired and insensitive to external disturbances and variations of nonlinear system parameters. The problem of absolute stability analysis of the fast-motion subsystem for nonaffine systems with two-time-scale motions is considered in the presence of a sector-like condition in the control.
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