2008/10/02 by Lorenzo Marconi, L. Marconi, Laurent Praly +6
Engineering · Mathematics · #93B51 #93C10 #Adaptive Control of Nonlinear Systems #Advanced Control Systems Optimization #Applied mathematics #Artificial intelligence #Computer science #Control (management) #Control theory (sociology) #Dynamical Systems (math.DS) #Dynamics (music) #Exponential stability #FOS: Mathematics #Lipschitz continuity #Mathematical analysis #Mathematics #Nonlinear system #Optimization and Control (math.OC) #Physics #Stability and Controllability of Differential Equations #Stability theory #Zero (linguistics) #math.DS #math.OC #msc:93B51 #msc:93C10
paper · pdf · doi:10.48550/arxiv.0810.0364
published in arXiv (Cornell University) (Cornell University) · 30 pages. Preliminary versions accepted at the 47th IEEE Conference on Decision and Control, 2008
arxiv created 2008/10/02 · openalex publication_date 2008/10/02 · arxiv updated 2009/12/01 · openalex created_date 2025/10/10 · openalex updated_date 2026/08/05
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 only rely upon a partial detectability assumption on the controlled plant, by 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.