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Output feedback control with disturbance rejection of a class of nonlinear MIMO systems

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Abstract

Output feedback control with disturbance rejection is developed for a class of nonlinear multi-input-multi-output (MIMO) systems. The availability of state variables and the bound of disturbances are not required to be known in advance. In the design of an adaptive observer, a robust adaptive nonlinear state feedback controller using the estimated states is proposed. The control methodology is robust to bounded disturbances that are both constant and time-varying, with effective performance. The adaptive laws are derived based on the Lyapunov synthesis method; therefore closed-loop asymptotic stability is also guaranteed. Moreover, chattering can be reduced by the proposed design approach. Simulation results are included to illustrate the effectiveness of the proposed controller.

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Authors and Affiliations

  1. Department of Electrical Engineering, Ferdowsi University of Mashhad, Mashhad, Iran

    R. Shahnazi

  2. Department of Control Engineering, K.N. Toosi University of Technology, Tehran, Iran

    H. Khaloozadeh

Authors
  1. R. Shahnazi
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  2. H. Khaloozadeh
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Correspondence to H. Khaloozadeh.

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The text was submitted by the authors in English.

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Shahnazi, R., Khaloozadeh, H. Output feedback control with disturbance rejection of a class of nonlinear MIMO systems. Aut. Conrol Comp. Sci. 42, 138–144 (2008). https://doi.org/10.3103/S014641160803005X

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  • DOI: https://doi.org/10.3103/S014641160803005X

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