The stabilization problem for a class of nonlinear feedforward systems is solved using bounded control. It is shown that when the lower subsystem of the cascade is input-to-state stable and the upper subsystem not exponentially unstable, global asymptotic stability can be achieved via a simple static feedback having bounded amplitude that requires knowledge of the "upper" part of the state only. This is made possible by invoking the bounded real lemma and a generalization of the small gain theorem. Thus, stabilization is achieved with typical saturation functions, saturations of constant sign, or quantized control. Moreover, the problem of asymptotic stabilization of a stable linear system with bounded outputs is solved by means of dynamic feedback. Finally, a new class of stabilizing control laws for a chain of integrators with input saturation is proposed. Some robustness issues are also addressed and the theory is illustrated with examples on the stabilization of physical systems. © 2004 IEEE.
CITATION STYLE
Kaliora, G., & Astolfi, A. (2004). Nonlinear control of feedforward systems with bounded signals. IEEE Transactions on Automatic Control, 49(11), 1975–1990. https://doi.org/10.1109/TAC.2004.837572
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