A NOTE ON ROBUST NONLINEAR CONTROL OF FEEDFORWARD SYSTEMS WITH UNMODELED DYNAMICS

摘要

A robust nonlinear control problem of feedforward systems with unmodeled dynamics is considered in (Arack et al., 2001) under the assumption that the Jacobian linearization of the system at the origin is stabilizable. This paper further shows that this assumption can be removed. The result of the paper is made possible by employing two versions of the small gain theorem with restrictions adapted from (Teel, 1996) to establish the global attractiveness and local stability of the closed loop system respectively.