Handling of nonlinear systems using filtered high-gain output feedback controller. (English) Zbl 1405.93101
Summary: This paper develops a filtered high-gain output feedback controller for a class of nonlinear systems in the presence of unknown state-dependent and time-varying nonlinearities. It considers that the nonlinearities satisfy a semiglobal Lipschitz condition. The presence of high-gain observer in the adaptive law delivers a good property of disturbance rejection at the cost of peaking phenomenon as well as reduced robustness. The addition of filtering mechanism in the control law overcomes the cons of high-gain observer and makes it robust to uncertainties in modeling the nonlinear functions. In this way, the filtered high-gain output feedback controller realizes nonlinear time-varying uncertainty cancelation and good tracking delivering with guaranteed robustness. The simulation results demonstrate the high efficiency of our novel design for handling of a class of nonlinear systems in the presence of time-varying uncertainty when compared with saturated control signal.
MSC:
| 93B52 | Feedback control |
| 93C10 | Nonlinear systems in control theory |
| 93B35 | Sensitivity (robustness) |
| 93C41 | Control/observation systems with incomplete information |
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