Stability robustness of linearizing controllers with state estimation for discrete-time nonlinear systems. (English) Zbl 0999.93066
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.
Reviewer: Edwin Engin Yaz (Fayetteville)
MSC:
93D21 | Adaptive or robust stabilization |
93B18 | Linearizations |
93B17 | Transformations |
93C55 | Discrete-time control/observation systems |