Skip to Main content Skip to Navigation
Journal articles

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

Abstract : 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.
Document type :
Journal articles
Complete list of metadatas

Cited literature [30 references]  Display  Hide  Download

https://hal-mines-paristech.archives-ouvertes.fr/hal-00531495
Contributor : François Chaplais <>
Submitted on : Tuesday, November 2, 2010 - 10:13:01 PM
Last modification on : Friday, October 30, 2020 - 12:04:02 PM
Long-term archiving on: : Friday, December 2, 2016 - 9:07:28 AM

File

RobustAsymptoticStabilization....
Publisher files allowed on an open archive

Identifiers

Citation

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

Share

Metrics

Record views

285

Files downloads

587