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Published:
Dec 31, 2007Keywords:
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Main Article Content
Robust Output Feedback of Minimum Phase Nonlinear Systems
Abstract
A robust output feedback controller is synthesized for minimum phase multivariable nonlinear systems based on the
differential geometry approach. Using the internal model control structure within the input-output (I/O) linearization
framework, the controller is combined with a closed-loop observer to estimate transformed states in the outer-loop. It is
shown that the controller-observer combination achieves robust tracking and estimation using simple tuning
parameters. The effectiveness of the proposed system is illustrated by a simulation example for control of concentration
in a chemical reactor.
