In Chapter 6 we introduced non-adaptive control design tools for certain classes of nonlinear systems. All of them were based on the assumption that the state of the plant is available for feedback. The scope of this chapter is to remove this restriction by dealing with the case when the state of the system is not available for | Stable Adaptive Control and Estimation for Nonlinear Systems Neural and Fuzzy Approximator Techniques. Jeffrey T. Spooner Manfredi Maggiore Raul Ordonez Kevin M. Passino Copyright 2002 John Wiley Sons Inc. ISBNs 0-471-41546-4 Hardback 0-471-22113-9 Electronic Part III Output-Feedback Control Stable Adaptive Control and Estimation for Nonlinear Systems Neural and Fuzzy Approximator Techniques. Jeffrey T. Spooner Manfredi Maggiore Raul Ordonez Kevin M. Passino Copyright 2002 John Wiley Sons Inc. ISBNs 0-471-41546-4 Hardback 0-471-22113-9 Electronic Chapter Output-Feedback Control Overview In Chapter 6 we introduced non-adaptive control design tools for certain classes of nonlinear systems. All of them were based on the assumption that the state of the plant is available for feedback. The scope of this chapter is to remove this restriction by dealing with the case when the state of the system is not available for feedback but rather only the output can be measured. We will in other words introduce a set of techniques to perform output-feedback control. Recall from Chapter 6 the structure of the system dynamics ÊT with state X G Rn input U G Rm and output y G RC As in Chapter 6 we will assume that f is piecewise continuous in t and locally Lipschitz in X to ensure that there exists a unique solution to defined on a compact time interval o c for some ti 0. Throughout this chapter we will try to find controllers that drive the state trajectories x t to the origin X 0 by only using the information provided by y this is referred to as the output feedback stabilization problem . Additionally we will investigate the problem of finding a control law forcing y r i where r t is a reference signal by using only y this is referred to as an output-feedback tracking problem . In both cases the controllers we will find rather than being static with u v t y will be dynamic ic fc xc y r . u hc xc y with a state xc and sufficiently smooth functions fc and hc. Note that when .
