Bounded tracking for non-minimum phase nonlinear systems with fast zero dynamics

DOI10.1080/002071797223352MaRDI QIDQ4372953zbMATH OpenOpenAlexFDO

Authors Claire Tomlin, S. Shankar Sastry

Publication date 19 May 1998

Published in International Journal of Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1080/002071797223352

zbMATH Keywords

bounded trackingnonlinear control systemssingular perturbation

Mathematics Subject Classification ID

Design techniques (robust design, computer-aided design, etc.) (93B51) Nonlinear systems in control theory (93C10) Perturbations in control/observation systems (93C73)

Review text

The aim of this paper is to provide a reasonably complete description of conditions under which bounded tracking control laws for nonlinear control systems with fast zero dynamics exist (in the limit that the perturbation of the system dynamics goes to zero). Explicit bounds on the control inputs are calculated for both SISO and MIMO systems using some interesting non-standard singular perturbation techniques.

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