LYAPUNOV-BASED DESIGN OF iISS FEEDFORWARD SYSTEMSWITH UNCERTAINTY AND NOISY MEASUREMENTS

摘要

We study the problem of achieving integral input to state stability (iISS) with respectto noise for a class of upper triangular nonlinear systems with uncertainty and measurement noise.We propose a novel step-by-step Lyapunov-based design, consisting of (1) splitting an n-dimensionalsystem into n one-dimensional systems, each with its own state, inputs, and measurement, (2)constructing a one-dimensional measurement feedback controller for each one-dimensional system,according to a certainty equivalence principle, and (3) selecting the parameters of these controllers sothat their interconnection gives a measurement feedback controller for the n-dimensional system. Thestability analysis is performed through filtered Lyapunov functions, which are Lyapunov functionswith parameters being the output of suitable dynamical filters