Stability robustness of linearizing controllers with state estimation for discrete-time nonlinear systems

DOI10.1093/IMAMCI/18.4.479MaRDI QIDQ2777929zbMATH OpenOpenAlexFDO

Authors C. Cruz-Hernández, Joaquín Alvarez, R. Castro-Linares

Publication date 2 June 2002

Published in IMA Journal of Mathematical Control and Information (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1093/imamci/18.4.479

zbMATH Keywords

discrete-time nonlinear systeminput-output linearizationsingle-link robotstability robustnessultimate boundedness

Mathematics Subject Classification ID

Transformations (93B17) Linearizations (93B18) Discrete-time control/observation systems (93C55) Adaptive or robust stabilization (93D21)

Review text

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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Cited in

(5)

• Parameter to state stability of control Lyapunov functions for hybrid system models of robots
• On the effect of perturbations on the stability of input-output linearizing controllers for a class of discrete-time nonlinear systems
• Stability of discrete nonlinear systems under nonvanishing perturbations: application to a nonlinear model-matching problem
• Total stability of equilibria motivates integral action in discrete-time nonlinear systems
• Output synchronization of chaotic systems under nonvanishing perturbations

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