Robust asymptotic stabilization of nonlinear systems with non-hyperbolic zero dynamics: Part II

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"

This paper complements the accompanying work [12] by presenting a few control scenarios where the tool presented in that work can be successfully used to solve specific robust output feedback stabilization problems. The problem of robust asymptotic stabilization and regulation of nonlinear systems with non hyperbolic zero dynamics via locally Lipschitz partial state or output feedback is addressed.

Domaines: Automatique / Robotique

Lorenzo Marconi, Laurent Praly, Alberto Isidori. Robust asymptotic stabilization of nonlinear systems with non-hyperbolic zero dynamics: Part II. 47th IEEE Conference on Decision and Control, Dec 2008, Cancun, Mexico. pp.1581-1586, ⟨10.1109/CDC.2008.4739199⟩. ⟨hal-00576037⟩