High Gain Observer-Based Saturated Controller for Feedback Linearizable System

Abstract

The presence of pulse width modulation driven components, limiters, and electronic switches constrain the magnitude of control input in electrical and electro-mechanical systems. The presence of nonlinearities in these system models and unavailability of full state measurements, further complicate the controller design process. This brief introduces a novel saturated output feedback design to solve the tracking problem for a class of feedback linearizable circuits. The feedback scheme comprises of a modified approximate dynamic inversion controller in conjunction with a standard high gain observer. Unlike the Lyapunov-based approaches, the proposed contraction theory-based methodology details a quantitative framework for the convergence analysis of closed loop trajectories. This, in turn, serve the dual purpose of proving ultimate boundedness and quantifying the convergence bounds in terms of known parameters.