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Gap metric based robustness analysis of nonlinear systems with full and partial feedback linearization

Al-Gburi, A., Freeman, C. T. and French, M. C. (2017) Gap metric based robustness analysis of nonlinear systems with full and partial feedback linearization International Journal of Control

Record type: Article


This paper uses gap metric analysis to derive robustness and performance margins for feedback linearizing controllers. Distinct from previous robustness analysis, it incorporates the case of output unstructured uncertainties, and is shown to yield general stability conditions which can be applied to both stable and unstable plants. It then expands on existing feedback linearizing control schemes by introducing a more general robust feedback linearizing control design which classifies the system nonlinearity into stable and unstable components and cancels only the unstable plant nonlinearities. This is done in order to preserve the stabilizing action of the inherently stabilizing nonlinearities. Robustness and performance margins are derived for this control scheme, and are expressed in terms of bounds on the plant nonlinearities and
the accuracy of the cancellation of the unstable plant nonlinearity by the controller. Case studies then confirm reduced conservatism compared with standard methods.

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Submitted date: 1 October 2015
Accepted/In Press date: 1 April 2017
Organisations: Comms, Signal Processing & Control, EEE


Local EPrints ID: 382380
ISSN: 0020-3270
PURE UUID: dc57c52e-1baa-4453-b14c-c8d298a73e82

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Date deposited: 03 Oct 2015 22:18
Last modified: 17 Jul 2017 20:21

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Author: A. Al-Gburi
Author: C. T. Freeman
Author: M. C. French

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