Abstract
In this paper, we solve the problems of output-feedback semiglobal stabilization and tracking for the nonlinear benchmark RTAC example when the angle of the proof mass and/or the translational position of the cart are considered as the output. The proposed results complement previous work which requires exact knowledge of the translational and/or angular velocities but achieves global stabilization or global tracking. As is demonstrated in simulations, the output-feedback stabilizing and tracking controllers proposed in this paper yield performance as good as their counterparts with state feedback.
| Original language | English |
|---|---|
| Pages (from-to) | 907-915 |
| Number of pages | 9 |
| Journal | Automatica |
| Volume | 34 |
| Issue number | 7 |
| DOIs | |
| State | Published - Jul 1998 |
ASJC Scopus subject areas
- Control and Systems Engineering
- Electrical and Electronic Engineering
Keywords
- Nonlinear control
- Observers
- Output feedback
- Semiglobal
- Stabilization
- Tracking