TY - JOUR
T1 - Robust semi-global output tracking for nonlinear singularly perturbed systems
AU - Christofides, Panagiotis D.
AU - Teel, Andrew R.
AU - Daoutidis, Prodromos
PY - 1995/12/1
Y1 - 1995/12/1
N2 - 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 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, uncertainties and their derivatives, in an arbitrarily large compact set, as 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.
AB - 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 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, uncertainties and their derivatives, in an arbitrarily large compact set, as 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.
UR - http://www.scopus.com/inward/record.url?scp=0029533537&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=0029533537&partnerID=8YFLogxK
M3 - Conference article
AN - SCOPUS:0029533537
SN - 0191-2216
VL - 3
SP - 2251
EP - 2256
JO - Proceedings of the IEEE Conference on Decision and Control
JF - Proceedings of the IEEE Conference on Decision and Control
T2 - Proceedings of the 1995 34th IEEE Conference on Decision and Control. Part 1 (of 4)
Y2 - 13 December 1995 through 15 December 1995
ER -