Global Robust Stabilization for a Class of Nonlinear Systems with Mismatched Uncertainties.

概要

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In the past several years, various robust control methods have been developed for nonlinear systems with uncertainties. However, most of them treat the uncertainties with matching condition or the special case of mismatched uncertainties. Though it is fundamental to know when we can robustly stabilize the nonlinear systems in the presence of general mismatched uncertainties, this fundamental problem has not been solved yet.In this paper, a sufficient condition of global robust stabilization via state feedback is derived for a class of nonlinear systems with general mismatched uncertainties, which generalizes the former results on asymptotically stabilization for cascade systems without uncertainties. Next, it is shown that this sufficient condition can be simplified for a certain class of nonlinear systems. Moreover, we show that the obtained condition is effective in the global robust stabilization of a class of input-output linearizable systems.
公益社団法人計測自動制御学会の論文