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Output Feedback and State Feedback
Output Feedback and State Feedback
Lecture 10 1 Lecture 10 2
Nonlinear Observers
What if x is not measurable?
Lecture 10 3 Lecture 10 4
EL2620 2010 EL2620 2010
ẋ = f (x) + g(x)u
Some state feedback control approaches idea: use a state-feedback controller u(x) to make the system linear
u(x) = − cos x + x3 − kx + v
yields the linear system
ẋ = −kx + v
Lecture 10 5 Lecture 10 6
Lecture 10 7 Lecture 10 8
EL2620 2010 EL2620 2010
Lie Derivatives
Example: controlled van der Pol equation
Consider the nonlinear SISO system
ẋ1 = x2
ẋ = f (x) + g(x)u ; x ∈ Rn , u ∈ R1
ẋ2 = −x1 + ǫ(1 − x21 )x2 +u y = h(x), y ∈ R
y = x1
The derivative of the output
Differentiate the output
dh dh
ẏ = ẋ = (f (x) + g(x)u) , Lf h(x) + Lg h(x)u
ẏ = ẋ1 = x2 dx dx
ÿ = ẋ2 = −x1 + ǫ(1 − x21 )x2 + u where Lf h(x) and Lg h(x) are the Lie derivatives (Lf h is the
derivative of h along the vector field of ẋ = f (x))
The state feedback controller
Repeated derivatives
u = x1 − ǫ(1 − x21 )x2 +v ⇒ ÿ = v d(Lfk−1 h) d(Lf h)
Lkf h(x) = f (x), Lg Lf h(x) = g(x)
dx dx
Lecture 10 11 Lecture 10 12
EL2620 2010 EL2620 2010
Lecture 10 13 Lecture 10 14
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EL2620 2010 EL2620 2010
Lecture 10 17 Lecture 10 18
But, the term x3 in the control law may require large control moves!
Lecture 10 19 Lecture 10 20
EL2620 2010 EL2620 2010
8 800
u = − cos x − kx 7
600
State x
Input u
5 400
4 2 4
V (x) > 0 , V̇ = −x − kx < 0 3
200
2
Thus, also globally asymptotically stable (and more negative V̇ ) 1
0
0 −200
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5 0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
time [s] time [s]
Lecture 10 21 Lecture 10 22
Lecture 10 23 Lecture 10 24
EL2620 2010 EL2620 2010
Lecture 10 25 Lecture 10 26
Back-Stepping Lemma
Consider V2 (x1 , x2 ) = V1 (x1 ) + ζ 2 /2. Then,
dV1 dV1 Lemma: Let z = (x1 , . . . , xk−1 )T and
V̇2 (x1 , x2 ) = f (x1 ) + g(x1 )φ(x1 ) + g(x1 )ζ + ζv
dx1 dx1 ż = f (z) + g(z)xk
dV1 ẋk = u
≤ −W (x1 ) + g(x1 )ζ + ζv
dx1
Assume φ(0) = 0, f (0) = 0,
Choosing
dV1 ż = f (z) + g(z)φ(z)
v=− g(x1 ) − kζ, k>0
dx1
gives stable, and V (z) a Lyapunov fcn (with V̇ ≤ −W ). Then,
2
V̇2 (x1 , x2 ) ≤ −W (x1 ) − kζ
dφ dV
Hence, x = 0 is asymptotically stable for (1) with control law u= f (z) + g(z)xk − g(z) − (xk − φ(z))
dz dz
u(x) = φ̇(x) + v(x).
If V1 radially unbounded, then global stability. stabilizes x = 0 with V (z) + (xk − φ(z))2 /2 being a Lyapunov fcn.
Lecture 10 27 Lecture 10 28
EL2620 2010 EL2620 2010
Lecture 10 29 Lecture 10 30
Back-Stepping Example
Back-Stepping Lemma can be applied recursively to a system Design back-stepping controller for
Lecture 10 31 Lecture 10 32
EL2620 2010 EL2620 2010
ẋ1 = x21 + x2
ẋ2 = x3
Next Lecture
ẋ3 = u
gives • Gain scheduling
dφ2 dV2 • Nonlinear controllability (How to park a car )
u = u2 = f (z) + g(z)xn − g(z) − (xn − φ2 (z))
dz dz
∂φ2 2 ∂φ2 ∂V2
= (x1 + x2 ) + x3 − − (x3 − φ2 (x1 , x2 ))
∂x1 ∂x2 ∂x2
which globally stabilizes the system.
Lecture 10 33 Lecture 10 34