Reference : Integrator forwarding : a new recursive nonlinear robust design

	Document type :	Scientific journals : Article
	Discipline(s) :	Engineering, computing & technology : Electrical & electronics engineering
	To cite this reference:	http://hdl.handle.net/2268/78172

Title :	Integrator forwarding : a new recursive nonlinear robust design
Language :	English
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 > > >]
Publication date :	1997
Journal title :	Automatica
Publisher :	Pergamon Press - An Imprint of Elsevier Science
Volume :	33
Issue/season :	5
Pages :	979-984
ISSN :	0005-1098
City :	Oxford
Country :	United Kingdom
Keywords :	[en] nonlinear systems ; global stabilization ; design methods ; feedforward systems
Abstract :	[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.
Permalink :	http://hdl.handle.net/2268/78172

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