Robust Nonlinear Control Design with Input and Measurement Disturbances.pdf

Pro ceedings of the American Control Conference Albuquerque NM June pp Robust Nonlinear Control Design with Input and Measurement Disturbances Ioannis Kanellakop oulos UCLA Electrical Engineering Los Angeles CA ioanniseeuclaedu p ositive denite and pr oper functions V IRn IR and Intro duction n W IR IR such that The robust control problem for uncertain nonlinear V systems has received a great deal of attention in the last x f x g x x W x x IR n few years In most cases the problem addressed x 2 is robust stabilization or robust tracking and knowledge of b ounds on the uncertainties is assumed Since such Under this assumption the control u x applied b ounds are usually conservative the gains employed in to the system guarantees global asymptotic stability the resulting robust controllers are likely to b e unneces of x sarily high Our rst result deals with additive and multiplicative More recently the problem of measurement distur disturbances on the input u bance attenuation in nonlinear systems has started to re Lemma Input Disturbances Let the system ceive some attention In the authors solved this prob be p erturbed as in lem for the class of strictfeedback systems with additive measurement disturbances while considered b oth mul