Brief A new separation result for a class of quadratic-like systems with application to Euler-Lagrange models

Authors:
Gildas BesançOn;Stefano Battilotti;Leonardo Lanari
Affiliations:
Laboratoire d'Automatique de Grenoble, ENSIEG BP 46, Saint Martin d'Hères 38402, France;Dipartimento di Informatica e Sistemistica, Univ. La Sapienza, via Eudossiana 18, Roma 00184, Italy;Dipartimento di Informatica e Sistemistica, Univ. La Sapienza, via Eudossiana 18, Roma 00184, Italy
Venue:
Automatica (Journal of IFAC)
Year:
2003

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Abstract

A separation result for some kind of global stabilization via output feedback of a class of nonlinear systems, under the form of some stabilizability by state feedback on the one hand, and some unboundedness observability on the other hand is presented. They allow to design, for any domain of output initial condition, some dynamic output feedback controller achieving global stability. It is also highlighted how disturbance attenuation can further be achieved on the same basis. As an example, the proposed conditions are shown to be satisfied by the class of so-called Euler-Lagrange systems, for which a tracking output feedback control law is thus proposed.