Brief Paper: Stabilization and Tracking via Output Feedback for the Nonlinear Benchmark System

Authors:
Zhong-Ping Jiang;David J. Hill;Yi Guo
Affiliations:
Department of Electrical Engineeering, The University of Sydney, NSW 2006, Australia;Department of Electrical Engineeering, The University of Sydney, NSW 2006, Australia;Department of Electrical Engineeering, The University of Sydney, NSW 2006, Australia
Venue:
Automatica (Journal of IFAC)
Year:
1998

Citing 6
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Abstract

In this paper, we solve the problems of output-feedback semiglobal stabilization and tracking for the nonlinear benchmark RTAC example when the angle of the proof mass and/or the translational position of the cart are considered as the output. The proposed results complement previous work which requires exact knowledge of the translational and/or angular velocities but achieves global stabilization or global tracking. As is demonstrated in simulations, the output-feedback stabilizing and tracking controllers proposed in this paper yield performance as good as their counterparts with state feedback.