Integrator forwarding : a new recursive nonlinear robust design

[en] We consider the global stabilization of nonlinear systems in strict feedforward form. We show that these systems, while not feedback linearizable, can be (globally) transformed by feedback and diffeomorphism into a lower-triangular form. The transformation is explicit and recursive. We employ this transformation to design a globally stabilizing controller with optimality properties and an input-to-state stability property with respect to matched uncertainties.

Disciplines :

Electrical & electronics engineering

Author, co-author :

Sepulchre, Rodolphe ; Université Catholique de Louvain - UCL > Center for Systems Engineering and Applied Mechanics

Jankovic, M.; Ford Scientific Research Laboratories, Dearborn, MI (USA)

Kokotovic, Petar V.; University of California, Santa Barbara (USA) > Department of Electrical anc Computer Engineering

Language :

English

Title :

Integrator forwarding : a new recursive nonlinear robust design

Publication date :

1997

Journal title :

Automatica

ISSN :

0005-1098

Publisher :

Pergamon Press - An Imprint of Elsevier Science, Oxford, United Kingdom

Volume :

Issue :

Pages :

979-984

Peer reviewed :

Peer Reviewed verified by ORBi

Available on ORBi :

since 29 November 2010

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128

Scopus citations^®
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126

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116

Bibliography

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