Abstract
Using the extended linearization method for nonlinear systems, linear robust control theory, and H∞ control theory, an optimally robust output feedback control problem is formulated and solved for single-input, single-output (SISO) nonlinear systems with plant uncertainties. A stability proof is given for the case of plant parameter uncertainty. This design procedure is used to stabilize an inverted pendulum on a cart in the presence of cart mass uncertainty.
| Original language | English |
|---|---|
| Pages (from-to) | 2376-2381 |
| Number of pages | 6 |
| Journal | Proceedings of the IEEE Conference on Decision and Control |
| Volume | 3 |
| Publication status | Published - 1989 |
| Externally published | Yes |
| Event | Proceedings of the 28th IEEE Conference on Decision and Control. Part 2 (of 3) - Tampa, FL, USA Duration: 13 Dec 1989 → 15 Dec 1989 |
ASJC Scopus subject areas
- Control and Systems Engineering
- Modelling and Simulation
- Control and Optimization