비최소위상 비선형 시스템의 출력궤환 안정화

Abstract

An output feedback stabilizing controller for non-minimum phase nonlinear systems is presented. We first perform the standard input-output linearization of the system and then transform the zero dynamics into a special normal form in which the antistable part is not affected by the stable part and the antistable part is given in approximately linear form. Under the assumption that the nonlinear system satisfies the observability rank condition, we can design an observer for the extended system that is made of the augmentation of a chain of integrators. The proposed output feedback stabilizing controller can then be designed by combining the observer and the state feedback controller.