A single-dynamic-gain scaling control method for nonlinear systems with measurement uncertainty

Abstract

A single-dynamic-gain scaling output feedback control method is proposed with the novelty lying in (i) constructing a couple of observer-controller with the modification of scaling-gain exponent and (ii) introducing time-varying coupled matrix inequalities to deal with the large measurement uncertainty. By combining with the non-identification adaptive mechanism, the proposed dynamic output feedback controller is applicable to a class of nonlinear systems in the absence of the knowledge of upper bounds of unknown parameters in the nonlinearities and output equation, and global state asymptotical regulation is achieved with a bounded adaptive gain. Especially, the uncertain parameters in the nonlinearities and (non-differentiable) output function are both handled by a single-scaling gain. Moreover, the control method of this paper is non-backstepping and all design parameters are easy to obtain.