Robust Global Stabilization with Input Unmodeled Dynamics: An ISS Small-Gain Approach
نویسندگان
چکیده
This paper addresses the global asymptotic stabilization of nonlinear systems in the presence of unmodeled dynamics appearing at the input. The unmodeled dynamics are restricted to be minimum-phase and relative degree zero. On the basis of nonlinear small-gain arguments, we design a static feedback control law to achieve global asymptotic stabilization. In the absence of full state information an observer-based control design is developed.
منابع مشابه
Mathematics of Control , Signals , and Systems Stabilization in Spite of Matched Unmodeled Dynamics and an Equivalent Definition of Input - to - State Stability
Abstract. We consider nonlinear systems with input-to-output stable (IOS) unmodeled dynamics which are in the "range" of the input. Assuming the nominal system is globally asymptotically stabilizable and a nonlinear small-gain condition is satisfied, we propose a first control law such that all solutions of the perturbed system are bounded and the state of the nominal system is captured by an a...
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