Robust passivity and feedback design for minimum-phase nonlinear systems with structural uncertainty (Q1295105): Difference between revisions
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scientific article
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English | Robust passivity and feedback design for minimum-phase nonlinear systems with structural uncertainty |
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Robust passivity and feedback design for minimum-phase nonlinear systems with structural uncertainty (English)
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18 May 2000
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The paper deals with affine nonlinear systems of the form \[ \begin{aligned} \dot x & = f(x)+ g(x)u,\\ y & = h(x)\end{aligned} \] with \(0\) as ``ground state'' (\(f(0)= 0\), \(h(0)= 0\)) and \(f\), \(g\), \(h\) smooth mappings. Passivity and robust passivity are revisited. Further, feedback equivalence to a robust strictly passive system is described. After introducing robust minimum phase systems it is shown that these systems are globally asymptotically stabilizable. The results obtained for systems of relative degree one are then extended for higher relative degrees.
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feedback stabilization
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affine nonlinear systems
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robust passivity
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