Global regulation and local robust stabilization of chained systems
نویسنده
چکیده
In the present work a discontinuous control law for chained systems of order n that yields global asymptotic regulation and local exponential stability in the sense of Lyapunov is proposed. As a consequence of the Lyapunov stability property the new control law assures robustness against the e ect of (small) measurement noise and of external disturbances. Simulation results complement the theoretical developments.
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