Robust Asymptotic Stabilization of Nonlinear Systems With Non-Hyperbolic Zero Dynamics

Lorenzo Marconi (1) , Laurent Praly (2) , Alberto Isidori (3)

1 CASY-DEIS - Center for Research on Complex Automated Systems
2 CAS - Centre Automatique et Systèmes
3 DIS - Dipartimento di Informatica e Sistemistica "Antonio Ruberti"

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.

Mots clés: Minimum-phase systems; output feedback; robust stabilization; uniform completely observable

Domaines: Automatique / Robotique

Lorenzo Marconi, Laurent Praly, Alberto Isidori. Robust Asymptotic Stabilization of Nonlinear Systems With Non-Hyperbolic Zero Dynamics. IEEE Transactions on Automatic Control, 2010, 55 (4), pp.907-921. ⟨10.1109/TAC.2010.2042001⟩. ⟨hal-00531495⟩