Robust Feedback Linearization using Extended High-Gain Observers

We consider a partially feedback linearizable system with stable zero dynamics. The system is uncertain and only the output is measured. Consequently, exact feedback linearization is not applicable. We propose to design an extended high-gain observer to recover unmeasured derivatives of the output a...

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Bibliographic Details
Published inProceedings of the 45th IEEE Conference on Decision and Control pp. 983 - 988
Main Authors Freidovich, L.B., Khalil, H.K.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.01.2006
SeriesProceedings / IEEE Conference on Decision and ControlIEEE Control Systems Society
Subjects
Adaptive control
Control systems
Output feedback
Programmable control
Robust control
Robustness
State feedback
Uncertainty
USA Councils
Vectors
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ISBN9781424401710
1424401712
ISSN0191-2216
DOI10.1109/CDC.2006.377053

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Summary:We consider a partially feedback linearizable system with stable zero dynamics. The system is uncertain and only the output is measured. Consequently, exact feedback linearization is not applicable. We propose to design an extended high-gain observer to recover unmeasured derivatives of the output and an extra one, which contains information about the uncertainty. The observer can be stabilized via feedback linearization followed by a linear control design, such as pole placement or LQR. After a short peaking period, a partial state vector, which includes the output and its derivatives, will be in a small neighborhood of the state of the observer; therefore, the performance achievable under exact feedback linearization will be recovered
ISBN:9781424401710
1424401712
ISSN:0191-2216
DOI:10.1109/CDC.2006.377053