Using asymptotic invariance methods for output stabilization of a class of uncertain systems with stable zero dynamics (Q1128386)

The authors consider uncertain SISO systems of the form \[ \begin{cases} \dot x=Ax+b\bigl(u+\psi(t,x)\bigr)\\ y=cx\end{cases}\tag{1} \] where \(u\in {\mathcal U} (t,x)\), \(\psi\in {\mathcal K} (t,x)\). The pair \((A,b)\) is controllable and the pair \((A,c)\) is observable. Assume that the relative order of (1) is one and that the zero dynamics is exponentially stable. The problem is to find a continuous output feedback in such a way that the solutions to the closed-loop system are exponentially stable in the presence of any disturbance \(\psi\). The authors introduce the notion of exponential invariance and show that the problem can be reduced to the design of an exponentially invariant system. The constructivity of this approach is demonstrated by a numerical example.