In this paper we present a general tool to handle the presence of zero dynamics which are asymptotically, but not locally exponentially, stable in problems of robust nonlinear stabilization by output feedback. We show how it is possible to design locally Lipschitz stabilizers under conditions which do not rely upon any observability assumption on the controlled plant, by thus obtaining a robust stabilizing paradigm which is not based on design of observers and separation principles. The main design idea comes from recent achievements in the field of output regulation and specifically in the design of nonlinear internal models. In this sense the results presented in this paper also complement in a non trivial way a certain number of works recently proposed in the field of output regulation by presenting meaningful conditions under which a locally Lipschitz regulator exists. The present work is complemented by a part II paper submitted to the same conference.

Robust Asymptotic Stabilization of Nonlinear Systems with Non-Hyperbolic Zero Dynamics: Part I

MARCONI, LORENZO;
2008

Abstract

In this paper we present a general tool to handle the presence of zero dynamics which are asymptotically, but not locally exponentially, stable in problems of robust nonlinear stabilization by output feedback. We show how it is possible to design locally Lipschitz stabilizers under conditions which do not rely upon any observability assumption on the controlled plant, by thus obtaining a robust stabilizing paradigm which is not based on design of observers and separation principles. The main design idea comes from recent achievements in the field of output regulation and specifically in the design of nonlinear internal models. In this sense the results presented in this paper also complement in a non trivial way a certain number of works recently proposed in the field of output regulation by presenting meaningful conditions under which a locally Lipschitz regulator exists. The present work is complemented by a part II paper submitted to the same conference.
2008
Proceedings of 47th IEEE Conference on Decision and Control
1
6
L. Marconi; L. Praly; A. Isidori
File in questo prodotto:
Eventuali allegati, non sono esposti

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11585/64680
 Attenzione

Attenzione! I dati visualizzati non sono stati sottoposti a validazione da parte dell'ateneo

Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus ND
  • ???jsp.display-item.citation.isi??? ND
social impact