Robust Stabilization of Nonminimum Phase Nonlinear Systems with Parametric Uncertainty

파라미터 불확실성을 갖는 비최소위상 비선형 시스템의 강인 안정화 제어

A control synthesis scheme is presented for nonlinear single-input-single-output (SISO) systems with parametric uncertainty which have completely unstable zero dynamics. The approach involves the derivation of an input-output linearizing control law which achieves internal stability for a nonlinear minimum phase approximation to the original system using Fliess normal form. A vector of unknown constant parameters is also considered. A Lyapunov-based additional control law is shown to stabilize the full system.