Observer-Based Controllers for Incrementally Quadratic Nonlinear Systems With Disturbances
Xiangru Xu, Behcet Ackmese, Martin J. Corless
Abstract
Robust global stabilization of nonlinear systems by observer-based feedback controllers is a challenging task. This article investigates the problem of designing observer-based stabilizing controllers for incrementally quadratic nonlinear systems with external disturbances. The nonlinearities considered in the system model satisfy the incremental quadratic constraints, which are characterized by incremental multiplier matrices and encompass many common nonlinearities. The simultaneous search for the observer and the controller gain matrices is formulated as a feasibility problem of linear matrix inequalities, for two parameterizations (i.e., the block diagonal parameterization and the block antitriangular parameterization) of the incremental multiplier matrices, respectively. The closed-loop system implementing the observer-based feedback controller is proven to be input-to-state stable with respect to external disturbances. Using the proposed continuous-time observer-based controllers, event-triggered controllers with time regularization are constructed for globally Lipschitz systems, such that the closed-loop system is Zeno-free and input-to-state practically stable.