Nonlinear Output Feedback Control: Performance and Robustness

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It is proposed to conduct research on the design of output feedback control of nonlinear systems.In the past several years, the principal investigator's team has introduced and developed a newapproach to this problem that combines high-gain observers with saturation nonlinearities. Theapproach proved useful in achieving fundamental progress in semiglobal stabilization, sliding-modecontrol, servomechanisms, and adaptive control. The earlier work has emphasized robustness andasymptotic behavior, which quite often come at the expense of the transient performance. Thegoal of this proposal is to develop new tools for nonlinear design that ensure acceptable transientperformance, while ensuring robustness and a desired asymptotic behavior. There are two mainthrusts in the proposal. The first one it to develop the tool of conditional integrators and ser-vocompensators, which was recently introduced by the principal investigator's team, to a muchwider class of nonlinear systems and design methods. The second one is to develop a logic-basedswitching control strategy for a class of nonlinear systems, as an alternative to robust and adaptivecontrol, in order to improve performance in the face of large model uncertainties.The class of nonlinear systems under consideration arises in many applications such as mechan-ical systems, aircraft control, and electric motor drives. Earlier results have been applied to thecontrol of induction motors and a mechanical system known as the pendubot. It is planned tocontinue using these two systems as testbeds for the new techniques.