Output Feedback Nonlinear General Integral Control

摘要

This paper proposes an output feedback nonlinear general integral controller for a class of uncertain nonlinear system. By solving Lyapunov equation, we demonstrate a new proposition on Equal ratio gain technique. By using Equal ratio gain technique, Singular perturbation technique and Lyapunov method, theorem to ensure regionally as well as semi-globally exponential stability is established in terms of some bounded information. Moreover, a real time method to evaluate the ratio coefficients of controller and observer are proposed such that their values can be chosen moderately. Theoretical analysis and simulation results show that not only output feedback nonlinear general integral control has the striking robustness but also the organic combination of Equal ratio gain technique and Singular perturbation technique constitutes a powerful tool to solve the output feedback control design problem of dynamics with the nonlinear and uncertain actions.