SOME RESULTS ON ROBUST OUTPUT FEEDBACK STABILIZATION OF NONLINEAR SYSTEMS

摘要

This paper aims at extending the results presented in (Teel and Praly, 1995) about the design of output feedback stabilizers for systems in normal form starting from Uniformly Completely Observable (UCO) state feedback control laws in two main directions: first, we show how output feedback asymptotic stabilization can be achieved even without requiring local exponential stability of the state feedback UCO-based loop and without designing an explicit local nonlinear observer. Second, we show how to design the output feedback stabilizer starting from an UCO state feedback control law which is not vanishing on the desired asymptotic attractor which, as a consequence, may be not invariant for the original controlled system. Key tools in achieving this goal are the ones developed in (Marconi et al., 2006) in a context strongly inspired by output regulation problems.