Abstract
This paper proposes an output feedback nonlinear general integral controller for a class of uncertain nonlinear system. By solving Lyapunov equation, we demonstrate a new proposition on Equal ratio gain technique. By using Equal ratio gain technique, Singular perturbation technique and Lyapunov method, theorem to ensure regionally as well as semi-globally exponential stability is established in terms of some bounded information. Moreover, a real time method to evaluate the ratio coefficients of controller and observer are proposed such that their values can be chosen moderately. Theoretical analysis and simulation results show that not only output feedback nonlinear general integral control has the striking robustness but also the organic combination of Equal ratio gain technique and Singular perturbation technique constitutes a powerful tool to solve the output feedback control design problem of dynamics with the nonlinear and uncertain actions.
Highlights
Integral control [1] plays an important role in practice because it ensures asymptotic tracking and disturbance rejection when exogenous signals are constants or planting parametric uncertainties appear
It is of important significance to develop the design method for output feedback nonlinear general integral control since some states cannot be measured in practice
The main contributions are that: 1) as any row integrator and its controller gains of a canonical interval system matrix tend to infinity with the same ratio, if it is always Hurwitz, and the same row solutions of Lyapunov equation all tend to zero; 2) theorem to ensure regionally as well as semi-globally exponential stability is established in terms of some bounded information; 3) a real time method to evaluate the ratio coefficients of controller and observer are proposed such that their values can be chosen moderately
Summary
Integral control [1] plays an important role in practice because it ensures asymptotic tracking and disturbance rejection when exogenous signals are constants or planting parametric uncertainties appear. After that Equal ratio gain technique was extended to the canonical interval system matrix [11] and was used to deal with nonlinear general integral control design. All these design methods and general integral controls above are all based on the state feedback. Theoretical analysis and simulation results show that output feedback nonlinear general integral control has the striking robustness and the organic combination of Equal ratio gain technique and Singular perturbation technique constitutes a powerful tool to solve the output feedback control design problem of dynamics with the nonlinear and uncertain actions.
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