Tracking controllers for systems linear in the unmeasured states

Randy A. Freeman; P. V. Kokotović

doi:10.1016/0005-1098(95)00193-X

Tracking controllers for systems linear in the unmeasured states

Randy A. Freeman^*, P. V. Kokotović

^*Corresponding author for this work

Electrical and Computer Engineering

Research output: Contribution to journal › Article › peer-review

66 Scopus citations

Abstract

We introduce a class of extended strict feedback nonlinear systems in which unmeasured states enter the system equations in a linear (affine) fashion. For such systems, we present a procedure for constructing dynamic partial state feedback controllers that achieve the global asymptotic tracking of given reference trajectories while maintaining internal boundedness. The controller dynamic order is equal to the number of unmeasured states. To illustrate our design procedure, we construct such a tracking controller for a nonlinear electromechanical rotor/platform system.

Original language	English (US)
Pages (from-to)	735-746
Number of pages	12
Journal	Automatica
Volume	32
Issue number	5
DOIs	https://doi.org/10.1016/0005-1098(95)00193-X
State	Published - May 1996

Keywords

Disturbance rejection
Dynamic output feedback
Global stability
Lyapunov methods
Nonlinear systems
Tracking

ASJC Scopus subject areas

Control and Systems Engineering
Electrical and Electronic Engineering

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10.1016/0005-1098(95)00193-X

Cite this

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title = "Tracking controllers for systems linear in the unmeasured states",

abstract = "We introduce a class of extended strict feedback nonlinear systems in which unmeasured states enter the system equations in a linear (affine) fashion. For such systems, we present a procedure for constructing dynamic partial state feedback controllers that achieve the global asymptotic tracking of given reference trajectories while maintaining internal boundedness. The controller dynamic order is equal to the number of unmeasured states. To illustrate our design procedure, we construct such a tracking controller for a nonlinear electromechanical rotor/platform system.",

keywords = "Disturbance rejection, Dynamic output feedback, Global stability, Lyapunov methods, Nonlinear systems, Tracking",

author = "Freeman, {Randy A.} and Kokotovi{\'c}, {P. V.}",

note = "Funding Information: Acknowledgements-The authors would like to thank Miroslav Krsti6 for his involvementi n helpful discussions regardingt he proof of Theorem 1. This work was supported by U.S. Department of Energy Grant DE-FG-02-88-ER-13939a nd by Air Force Office of ScientificR esearchG rant AFOSR F4%20-92-J-0495.",

year = "1996",

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doi = "10.1016/0005-1098(95)00193-X",

language = "English (US)",

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T1 - Tracking controllers for systems linear in the unmeasured states

AU - Freeman, Randy A.

AU - Kokotović, P. V.

N1 - Funding Information: Acknowledgements-The authors would like to thank Miroslav Krsti6 for his involvementi n helpful discussions regardingt he proof of Theorem 1. This work was supported by U.S. Department of Energy Grant DE-FG-02-88-ER-13939a nd by Air Force Office of ScientificR esearchG rant AFOSR F4%20-92-J-0495.

PY - 1996/5

Y1 - 1996/5

N2 - We introduce a class of extended strict feedback nonlinear systems in which unmeasured states enter the system equations in a linear (affine) fashion. For such systems, we present a procedure for constructing dynamic partial state feedback controllers that achieve the global asymptotic tracking of given reference trajectories while maintaining internal boundedness. The controller dynamic order is equal to the number of unmeasured states. To illustrate our design procedure, we construct such a tracking controller for a nonlinear electromechanical rotor/platform system.

AB - We introduce a class of extended strict feedback nonlinear systems in which unmeasured states enter the system equations in a linear (affine) fashion. For such systems, we present a procedure for constructing dynamic partial state feedback controllers that achieve the global asymptotic tracking of given reference trajectories while maintaining internal boundedness. The controller dynamic order is equal to the number of unmeasured states. To illustrate our design procedure, we construct such a tracking controller for a nonlinear electromechanical rotor/platform system.

KW - Disturbance rejection

KW - Dynamic output feedback

KW - Global stability

KW - Lyapunov methods

KW - Nonlinear systems

KW - Tracking

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DO - 10.1016/0005-1098(95)00193-X

M3 - Article

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VL - 32

SP - 735

EP - 746

JO - Automatica

JF - Automatica

SN - 0005-1098

IS - 5

ER -

Tracking controllers for systems linear in the unmeasured states

Abstract

Keywords

ASJC Scopus subject areas

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