Measurement feedback control of nonlinear systems: a small-gain approach

Abstract

This paper presents a new tool for feedback control design of nonlinear systems in the presence of non-smooth measurement errors. We introduce a small-gain design approach to robust control of nonlinear uncertain systems with disturbed measurement. As a design ingredient, a modified gain assignment technique for measurement feedback control of nonlinear uncertain systems is proposed. Through a recursive control design approach, the closed-loop system is transformed into a network of input-to-state stable (ISS) systems and the influences of the measurement errors are represented by ISS gains. The feedback control objective is achieved by applying the cyclic-small-gain theorem to the closed-loop system. Moreover, event-triggered control of nonlinear systems is studied in a unified framework of measurement feedback control.