A design method of output feedback servo-controllers for nonlinearsystems

摘要

This paper presents a novel method for designing output feedbackservo-controllers for nonlinear systems. First, a design method of statefeedback regulators for nonlinear systems is derived based on theHamilton-Jacobi optimality conditions for cost functions with quadraticstructure. Second, observers of nonlinear systems are designed, and theoutput feedback servo-controller is designed by combining the regulatorand observer. The validity of the proposed method has been verifiedthrough simulations using a two link robot arm