On the design of robust servomechanisms for minimum phase nonlinear systems

Corresponding Author

Hassan K. Khalil

Department of Electrical and Computer Engineering, Michigan State University, East Lansing, MI 48824-1226, U.S.A.

Department of Electrical and Computer Engineering, Michigan State University, East Lansing, MI 48824-1226, U.S.A.===Search for more papers by this author

Hassan K. Khalil,

Corresponding Author

Hassan K. Khalil

Department of Electrical and Computer Engineering, Michigan State University, East Lansing, MI 48824-1226, U.S.A.

Department of Electrical and Computer Engineering, Michigan State University, East Lansing, MI 48824-1226, U.S.A.===Search for more papers by this author

First published: 03 April 2000

https://doi.org/10.1002/(SICI)1099-1239(20000430)10:5<339::AID-RNC487>3.0.CO;2-M

Citations: 74

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Abstract

We consider a single-input single-output nonlinear system which has a well-defined normal form with asymptotically stable zero dynamics. We study the design of a robust output feedback controller that incorporates a linear servo compensator to achieve asymptotic tracking and disturbance rejection. We determine the least amount of precise information about the plant that is needed to design the controller. Such design will be robust to plant parameters and uncertainties which are not used in the design calculations. We also study robustness of the design to errors in determining the linear servo compensator. Such errors could arise from approximating a general continuous nonlinear function by a polynomial one, or from errors in determining the frequencies of the exogenous signals. We give regional as well as semiglobal results. Copyright © 2000 John Wiley & Sons, Ltd.

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Volume10, Issue5

Special Issue:Output Regulation for Nonlinear Systems

30 April 2000

Pages 339-361

On the design of robust servomechanisms for minimum phase nonlinear systems

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On the design of robust servomechanisms for minimum phase nonlinear systems

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