Robust passivity and feedback design for minimum-phase nonlinear systems with structural uncertainty. (English) Zbl 0936.93046

Lin, Wei; Shen, Tielong

Automatica 35, No. 1, 35-47 (1999).

The paper deals with affine nonlinear systems of the form \[ \begin{aligned} \dot x & = f(x)+ g(x)u,\\ y & = h(x)\end{aligned} \] with \(0\) as “ground state” (\(f(0)= 0\), \(h(0)= 0\)) and \(f\), \(g\), \(h\) smooth mappings. Passivity and robust passivity are revisited. Further, feedback equivalence to a robust strictly passive system is described. After introducing robust minimum phase systems it is shown that these systems are globally asymptotically stabilizable. The results obtained for systems of relative degree one are then extended for higher relative degrees.

Reviewer: Vladimir Răsvan (Craiova)

MSC:

93D21	Adaptive or robust stabilization
93D10	Popov-type stability of feedback systems
93D09	Robust stability

Keywords:

feedback stabilization; affine nonlinear systems; robust passivity