Stability robustness of linearizing controllers with state estimation for discrete-time nonlinear systems (Q2777929)
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scientific article; zbMATH DE number 1719067
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| English | Stability robustness of linearizing controllers with state estimation for discrete-time nonlinear systems |
scientific article; zbMATH DE number 1719067 |
Statements
Stability robustness of linearizing controllers with state estimation for discrete-time nonlinear systems (English)
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2 June 2002
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ultimate boundedness
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discrete-time nonlinear system
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stability robustness
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input-output linearization
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single-link robot
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0.9362193
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0.9303439
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0.9302238
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0.9300932
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0.9289688
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0.9286136
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0.9257672
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0.9247814
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A discrete-time nonlinear system model is considered. It is assumed that the model contains a parameter perturbation whose effect on the stability robustness of the controller is to be investigated. A static state feedback that achieves input-output linearization for the unperturbed system is applied. If the linearized system can be stabilized by a state estimate feedback, then it is shown under certain conditions that the state of the perturbed nonlinear system remains ultimately bounded. An example involving an application to a single-link robot is included.
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