OUTPUT FEEDBACK STABILIZATION OF A CLASS OF UNCERTAIN NON-AFFINE NONLINEAR SYSTEMS IN DISCRETE TIME

摘要

In this paper, the output feedback control is investigated for the general class of uncertain non-affine nonlinear systems in discrete time. Feedback linearization is employed and a novel dynamic linear observer is built based on the measured output information, which can be used to estimate the unknown feedback linearization error. The linear output feedback control is then developed based on the estimation information to stabilize the systems. The proposed control is robust to the modelling errors and of great significance in engineering practice due to its simple linear control architecture. Moreover, the fix-point problem that is usually met in feedback linearization design for non-affine nonlinear system is solved under a loose condition. Simulation results show the effectiveness of the proposed control approach.