Robust Asymptotic Stabilization of Nonlinear Systems with Non-Hyperbolic Zero Dynamics

Details Robust Asymptotic Stabilization of Nonlinear Systems with Non-Hyperbolic Zero Dynamics Robust Asymptotic Stabilization of Nonlinear Systems with Non-Hyperbolic Zero Dynamics

2008-10-02

arxiv.org/abs/0810.0364v1

Mathematics

Optimization and Control

30 pages. Preliminary versions accepted at the 47th IEEE Conference on Decision and Control, 2008

Scientific paper

In this paper we present a general tool to handle the presence of zero dynamics which are asymptotically but not locally exponentially stable in problems of robust nonlinear stabilization by output feedback. We show how it is possible to design locally Lipschitz stabilizers under conditions which only rely upon a partial detectability assumption on the controlled plant, by obtaining a robust stabilizing paradigm which is not based on design of observers and separation principles. The main design idea comes from recent achievements in the field of output regulation and specifically in the design of nonlinear internal models.

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