A generalization of Vidyasagar's theorem on stability using state detection
Systems & Control Letters
Global stabilizability and observability imply semi-global stabilizability by output feedback
Systems & Control Letters
A Smooth Converse Lyapunov Theorem for Robust Stability
SIAM Journal on Control and Optimization
Discrete-time stability with perturbations: application to model predictive control
Automatica (Journal of IFAC)
Survey Constrained model predictive control: Stability and optimality
Automatica (Journal of IFAC)
Input-to-state stability for discrete-time nonlinear systems
Automatica (Journal of IFAC)
Examples when nonlinear model predictive control is nonrobust
Automatica (Journal of IFAC)
Technical communique: On robustness of constrained discrete-time systems to state measurement errors
Automatica (Journal of IFAC)
Brief paper: Set membership approximation of discontinuous nonlinear model predictive control laws
Automatica (Journal of IFAC)
Solutions to hybrid inclusions via set and graphical convergence with stability theory applications
Automatica (Journal of IFAC)
Hi-index | 22.15 |
We present certainty equivalence output feedback results for discrete-time nonlinear systems that employ possibly discontinuous control laws in the feedback loop. Coupling assumptions of nominal robustness with uniform observability or detectability assumptions, we assert nominally robust stability for output feedback closed loops. We further show that model predictive control (MPC) can be used to generate a feedback control law that is robustly globally asymptotically stabilizing when used in a certainty equivalence output feedback closed loop. Allowing for discontinuous feedback control laws is important for systems employing MPC, since the method can, and sometimes necessarily does, result in discontinuous control laws.