Output Feedback Stabilization Control Design for the Disturbance Attenuation of a Class of Mimo Nonlinear Systems

In this paper, an output feedback discontinuous controller is proposed for a class of nonlinear systems to attenuate the disturbance influence on the system performance. Our main goal is to globally stabilize the nonlinear system in the presence of unknown structural system uncertainties and external disturbances. Our approach consists of constructing a high gain nonlinear observer to reconstruct the unavailable states, and then design discontinuous controller using a backstepping like design procedure to ensure stability of the nonlinear system. The design parameters of the observer and the controller are determined in a complementary manner to ensure stability. As a result the whole system can be stabilized while internal stability of the system states is also ensured. Finally, an example is presented to show the effectiveness of the proposed scheme. Copyright c ©2005 IFAC.