Static-state feedback laws for output regulation of non-linear systems

Mahony, R.;Mareels, I;Bastin, Georges;Campion, Guy
(1996) IFAC Conference on System Structure and Control 1995 — Location: NANTES(France) (5.July.1995)

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Authors
  • Mahony, R.
    Author
  • Mareels, I
    Author
  • Bastin, Georgesorcid-logoUCLouvain
    Author
  • Campion, GuyUCLouvain
    Author
Abstract
In this paper static-state feedback laws are considered which address the problem of output stabilization of non-linear dynamic control systems without drift. It is shown that as long as a dynamic-state control law exists which input-output decouples a given system, it is possible to construct a static-state control which stabilizes the system's output. The design procedure sheds light on the inherent difficulties in designing internally stable control laws for non-linear systems. To demonstrate the theory, it is applied to the task of designing an output stabilizing feedback for a simple model of a mobile robot.
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Mahony, R., Mareels, I., Bastin, G., & Campion, G. (1996). Static-state feedback laws for output regulation of non-linear systems. Control Engineering Practice, 4(7), 1009-1014. https://doi.org/10.1016/0967-0661(96)00100-1 (Original work published 1996)