International Federation of Automatic Control
3rd IFAC SYMPOSIUM on SYSTEM, STRUCTURE and CONTROL

Foz do Iguassu, Brazil October 17th - 19th, 2007

Wednesday Morning

Session WM2: Non-linear Systems I


Chair: Ubirajara Moreno - Brazil
Co-chair: Pablo Monzón - Uruguay
Room: Montevideo
2007-10-17
From 10:00 to 12:00
Robust Feedback Linearization without Full State Information
Ana Lúcia Driemeyer Franco; Henri Bourlès; Edson Roberto de Pieri
Contact: Ana Lúcia Driemeyer Franco - France
11:00-11:20
Abstract:
Robust feedback linearization of nonlinear systems without full state information is studied in this paper. The state is reconstructed from the output and the input by a linear observer combined with a diffeomorphism. It is shown that a separation principle applies, i.e., the estimated state can be used for performing the robust feedback linearization, which exactly transforms the nonlinear system into a linear system equal to its linear approximation around a nominal operating point. The local stability of the resulting closed loop is proved by theoretical arguments and its robustness is illustrated through an application example. Copyright © 2007 IFAC.