Compensation of measurable disturbances for two-time-scale nonlinear systems (Q5961502)

This paper deals with a class of two-time scale nonlinear systems of the form \[ \begin{aligned} \dot x & = f_1(x)+Q_1(x)z+ g_1(x)u+ W_1(x)d(t),\\ \varepsilon\dot z & = f_2(x)+Q_2(x)z+ g_2(x)u+ W_2(x)d(t),\quad y=h(x)\end{aligned} \] modeled within the framework of singular perturbations, where \(x\) is the slow state vector, \(z\) is the fast state vector, \(u\) denotes the manipulated input, \(d\) denotes the vector of disturbance inputs and \(y\) is the controlled output. Systems in both standard and nonstandard form are considered. For these systems, one synthesizes well conditioned control laws that utilize feedback of the full state vector and feedforward compensation of disturbances to exponentially stabilize the fast dynamics and enforce a pre-specified input-output behavior independently of the disturbances in the closed-loop slow subsystem. Singular perturbation methods are employed to establish that the discrepancy between the output of the closed-loop full-order system and the output of the closed-loop slow subsystem is proportional to the value of the singular perturbation parameter. The stability of the closed-loop system is analysed using Lyapunov's direct method and precise conditions that guarantee boundedness of the trajectories, for sufficiently small values of the singular perturbation parameter, are derived. The application of the developed methodology is illustrated through an example.