Digital stabilization of strict feedback dynamics through immersion and invariance

Mattia Mattioni (1, 2) , Salvatore Monaco (1) , Dorothée Normand-Cyrot (2)

1 UNIROMA - Università degli Studi di Roma "La Sapienza" = Sapienza University [Rome]
2 L2S - Laboratoire des signaux et systèmes

This paper deals with the extension to sampled-data stabilization of strict feedback dynamics of the Immersion and Invariance procedure proposed in Astolfi and Ortega [2003]. A direct digital approach is developed in two steps: first the target dynamics and immersion mapping are defined for the equivalent discrete-time model; then the control law is built to drive the dynamics towards the invariant manifold. A simulated example illustrates the performances.

Domaines: Automatique; Automatique / Robotique; Traitement du signal et de l'image [eess.SP]

Mattia Mattioni, Salvatore Monaco, Dorothée Normand-Cyrot. Digital stabilization of strict feedback dynamics through immersion and invariance. 1st IFAC Conference on Modelling, Identification and Control of Nonlinear Systems (MICNON), Jun 2015, Saint Petersburg, Russia. pp.1074-1079, ⟨10.1016/j.ifacol.2015.09.336⟩. ⟨hal-01101456⟩