TY - JOUR

T1 - Robust semi-global output tracking for nonlinear singularly perturbed systems

AU - Christofides, Panagiotis D.

AU - Teel, Andrew R.

AU - Daoutidis, Prodromos

PY - 1995/12/1

Y1 - 1995/12/1

N2 - In this work, a robust controller design methodology for a broad class of singularly perturbed nonlinear systems with time-varying uncertainties is developed. When the fast subsystem is stabilizable and the slow subsystem is input/output linearizable with ISS inverse dynamics, the developed state feedback controller guarantees boundedness of the trajectories of the closed-loop system and robust output tracking with arbitrary degree of asymptotic attenuation of the effect of uncertainty on the output, for initial conditions, uncertainties and their derivatives, in an arbitrarily large compact set, as long as the singular perturbation parameter is sufficiently small. The controller is a continuous function of the state of the system and its construction requires the knowledge of bounding functions on the size of uncertainty.

AB - In this work, a robust controller design methodology for a broad class of singularly perturbed nonlinear systems with time-varying uncertainties is developed. When the fast subsystem is stabilizable and the slow subsystem is input/output linearizable with ISS inverse dynamics, the developed state feedback controller guarantees boundedness of the trajectories of the closed-loop system and robust output tracking with arbitrary degree of asymptotic attenuation of the effect of uncertainty on the output, for initial conditions, uncertainties and their derivatives, in an arbitrarily large compact set, as long as the singular perturbation parameter is sufficiently small. The controller is a continuous function of the state of the system and its construction requires the knowledge of bounding functions on the size of uncertainty.

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M3 - Conference article

AN - SCOPUS:0029533537

SN - 0191-2216

VL - 3

SP - 2251

EP - 2256

JO - Proceedings of the IEEE Conference on Decision and Control

JF - Proceedings of the IEEE Conference on Decision and Control

T2 - Proceedings of the 1995 34th IEEE Conference on Decision and Control. Part 1 (of 4)

Y2 - 13 December 1995 through 15 December 1995

ER -