Uniform output regulation via approximated input-output linearisation for lightly damped internal dynamics
- Authors
- Lee, Young Ok; Chung, Chung Choo
- Issue Date
- Jan-2013
- Publisher
- TAYLOR & FRANCIS LTD
- Keywords
- input-output feedback linearisation; damping control; stability of nonlinear system; internal (zero) dynamics
- Citation
- INTERNATIONAL JOURNAL OF CONTROL, v.86, no.1, pp.159 - 171
- Indexed
- SCIE
SCOPUS
- Journal Title
- INTERNATIONAL JOURNAL OF CONTROL
- Volume
- 86
- Number
- 1
- Start Page
- 159
- End Page
- 171
- URI
- https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/163672
- DOI
- 10.1080/00207179.2012.721565
- ISSN
- 0020-7179
- Abstract
- We present a general framework for the design of a damping controller to tame lightly damped internal dynamics and to assess the stability of an approximate inputoutput linearised closed-loop system. In nonlinear systems, conclusions cannot be drawn regarding the stability of internal dynamics even though the zero dynamics is globally stable. Here, we investigated the sufficient conditions with a parameter-dependent Lyapunov (PDL) function for semi-globally exponential stability of damped internal dynamics. Using a composite Lyapunov function based on the PDL function, the uniform boundedness of the output regulation error is established within a region of interest. Controllability and observability analyses offer a theoretical guideline as to how a damping controller can be designed in the view of control effort and transient performance.
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