3 documents found

Article / Chapter
All rights reserved
2009-06-17

Robustness of funnel control in the gap metric

For m-input, m-output, finite-dimensional, linear systems satisfying the classical assumptions of adaptive control (i.e., (i) minimum phase, (ii) relative degree one and (iii) positive high-frequency gain), the well known funnel controller $ k(t) = \frac{\varphi (t)}{1- \varphi (t) \| e (t) \|}, u(t)...
Article / Chapter
All rights reserved
2008-06-17

Robust stabilization by linear output delay feedback

The main result establishes that if a controller C (comprising of a linear feedback of the output and its derivatives) globally stabilizes a (nonlinear) plant P, then global stabilization of P can also be achieved by an output feedback controller C[h] where the output derivatives in C are replaced by...
Article / Chapter
All rights reserved
2008-04-15

Normal form for linear systems with respect to its vector relative degree

For multi-input multi-output (MIMO) linear systems with existing vector relative degree a normal form is constructed. This normal form is not only structural simple but allows to characterize the system's zero dynamics for the design of feedback controllers. A characterization of the zero dynamics in...