Lect_31 - Nonlinear Systems and Control Lecture # 31...

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Unformatted text preview: Nonlinear Systems and Control Lecture # 31 Stabilization Output Feedback p. 1/1 2 In general, output feedback stabilization requires the use of observers. In this lecture we deal with three simple cases where an observer is not needed Minimum Phase Relative Degree One Systems Passive systems System with Passive maps from the input to the derivative of the output p. 2/1 2 Minimum Phase Relative Degree One Systems x = f ( x ) + g ( x ) u, y = h ( x ) f (0) = 0 , h (0) = 0 , L g h ( x ) negationslash = 0 , x D Normal Form: (0) = 0 , L g ( x ) = 0 , bracketleftBigg y bracketrightBigg = bracketleftBigg h ( x ) bracketrightBigg = f ( , y ) , y = ( x )[ u ( x )] , ( x ) negationslash = 0 p. 3/1 2 Assumptions: The origin of = f ( , 0) is exponentially stable c 1 bardbl bardbl 2 V 1 ( ) c 2 bardbl bardbl 2 V 1 f ( , 0) c 3 bardbl bardbl 2 vextendsingle vextendsingle vextendsingle vextendsingle...
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This note was uploaded on 07/25/2008 for the course ME 859 taught by Professor Choi during the Spring '08 term at Michigan State University.

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Lect_31 - Nonlinear Systems and Control Lecture # 31...

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