TY - GEN
T1 - Robust feedback linearization for minimum phase systems
AU - Iqbal, Sohail
AU - Edwards, Christopher
AU - Bhatti, Aamer Iqbal
PY - 2011
Y1 - 2011
N2 - In this paper, synthesis of robust feedback linearization procedure for nonlinear systems with stable zero dynamics is explored employing robust exact observer for estimation of the states as well as drift terms simultaneously on the basis of just available output of the system. The detail knowledge of the mathematical model of the system is no more crucial. Finite time convergence of the complete closed loop system is proved and thus a form of separation principle is satisfied i.e., the controller and observer can be designed separately. The simulation results verify robustness as well as performance of the proposed technique.
AB - In this paper, synthesis of robust feedback linearization procedure for nonlinear systems with stable zero dynamics is explored employing robust exact observer for estimation of the states as well as drift terms simultaneously on the basis of just available output of the system. The detail knowledge of the mathematical model of the system is no more crucial. Finite time convergence of the complete closed loop system is proved and thus a form of separation principle is satisfied i.e., the controller and observer can be designed separately. The simulation results verify robustness as well as performance of the proposed technique.
KW - Feedback linearization
KW - Higher order sliding mode
KW - Observers for nonlinear systems
UR - https://www.scopus.com/pages/publications/84866772532
U2 - 10.3182/20110828-6-IT-1002.03624
DO - 10.3182/20110828-6-IT-1002.03624
M3 - Conference contribution
AN - SCOPUS:84866772532
SN - 9783902661937
T3 - IFAC Proceedings Volumes (IFAC-PapersOnline)
SP - 11151
EP - 11156
BT - Proceedings of the 18th IFAC World Congress
PB - IFAC Secretariat
ER -