Global Asymptotic Stabilization for Nonminimum Phase Nonlinear Systems Admitting a Strict Normal Form

Vincent Andrieu (1) , Laurent Praly (2)

1 LAAS-MAC - Équipe Méthodes et Algorithmes en Commande
2 CAS - Centre Automatique et Systèmes

In this paper, we address the problem of global asymptotic stabilization by output feedback for nonminimum phase nonlinear systems which admit a strict normal form. We assume the knowledge of an observer and, depending on its properties, we propose various approaches to design the control law. Each of these approaches needs a different stabilizability assumption on the inverse dynamics. In this way, within a unified framework, we recover and extend some already published results and we establish new ones.

Mots clés: Backstepping nonmimum phase system observer output feedback

Domaines: Automatique / Robotique

Vincent Andrieu, Laurent Praly. Global Asymptotic Stabilization for Nonminimum Phase Nonlinear Systems Admitting a Strict Normal Form. IEEE Transactions on Automatic Control, 2008, 53 (5), pp.1120-1132. ⟨10.1109/TAC.2008.923657⟩. ⟨hal-00362739⟩