Robust semi-global output tracking for nonlinear singularly perturbed systems

Panagiotis D. Christofides, Andrew R. Teel, Prodromos Daoutidis

Research output: Contribution to journalArticlepeer-review

35 Scopus citations

Abstract

In this work, a robust controller design methodology for a broad class of singularly perturbed nonlinear systems with time-varying uncertainties is developed. When the fast subsystem is stabilizable and the slow subsystem is input/output linearizable with input-to-state stable (ISS) inverse dynamics, the developed state feedback controller guarantees boundedness of the trajectories of the closed-loop system and robust output tracking with arbitrary degree of asymptotic attenuation of the effect of uncertainty on the output, for initial conditions and uncertainties in an arbitrarily large compact set, so long as the singular perturbation parameter is sufficiently small. The controller is a continuous function of the state of the system and its construction requires the knowledge of bounding functions on the size of uncertainty. The developed method is applied to a non-isothermal continuous stirred tank reactor with fast jacket dynamics.

Original languageEnglish (US)
Pages (from-to)639-666
Number of pages28
JournalInternational Journal of Control
Volume65
Issue number4
DOIs
StatePublished - Nov 1996

Bibliographical note

Funding Information:
Received 6 April 1995. Revised 1 December 1995. Communicated by Professor A. Isidori. t Department of Chemical Engineering and Materials Science, University of Minnesota, Minneapolis, MN 55455, U.S.A. Funded in part by ACS-PRF. $Department of Electrical Engineering, University of Minnesota, Minneapolis, MN 55455, U.S.A. Funded in part by the NSF under grant ECS-9309523.

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