scientific article; zbMATH DE number 1172610
The authors discuss the robust output tracking of the nonlinear system \[ \begin{aligned} \dot x & = f(x,\theta)+ g(x,\theta)\cdot f(x,\theta)+ \sum^n_{i= 1}g_i(x,\theta) u_i,\\ y & = h(x,\theta),\end{aligned} \] where \(x\in\mathbb{R}^n\), \(u\in\mathbb{R}^m\), \(y\in\mathbb{R}^m\); \(f(x,\theta)\), \(g(x,\theta)\) and \(h(x,\theta)\) are sufficiently smooth functions in \(x\); \(f(0,\theta)= 0\), \(h(0,\theta)= 0\), for \(\theta\in \Theta\); \(g(x,\theta)\neq 0\) for \(x\in\mathbb{R}^n\), \(\theta\in\Theta\); \(f\), \(g_i\), \(h\), \({\partial f\over\partial x}\), \({\partial g_i\over\partial x}\), \({\partial h\over\partial x}\) are continuous functions in \(\theta\) for \(x\in\mathbb{R}^n\), \(\theta\in\Theta\), where \(\Theta\) is the compact set of unknown parameter vectors. The authors, using a time-varying state feedback control law, exponentially stabilize the output tracking error, and guarantee that all states in the nonlinear system are bounded. To implement the time-varying state feedback control law, they design a high-gain robust observer which observes the states needed by the control law. The output of the obtained closed-loop system can asymptotically track the desired output, and all signals inside the closed-loop system are bounded.
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