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OUTPUT FEEDBACK SAMPLED-DATA CONTROL OF NONLINEAR SYSTEMS USING HIGH-GAIN OBSERVERS By AHMED MOHAMED DABROOM A DISSERTATION Submitted to Michigan State University in partial fulfillment of the requirements for the degree of DOCTOR OF PHILOSOPHY Department of Electrical and Computer Engineering 2000 roduced with permission of the copyright owner. Further reproduction prohibited without permission, Hill and Guo [30] used a reduced-order high-gain observer to achieve semiglobal stabilization for a nonlinear benchmark problem. In most of these papers the controller is designed in two steps. First, a globally bounded state feedback control is designed to meet the design objective. Second, a high-gain observer, designed to be fast enough, recovers the performance achieved under state feedback. This recovery is shown using asymptotic analysis of a singularly perturbed closed-loop system. The combination of these two steps of design allows for a separation approach. This separation approach is used in most of the papers that utilize high-gain observers. It is proved in a generic form in the work of Teel and Praly (62), where it is shown that global stabilizability by state feedback and uniform observability imply semiglobal stabilizability by output feedback. A more comprehensive separation principle is proved by Atassi and Khalil (8]. 1.1 The Class of systems and Observer Design We consider a multivariable nonlinear system represented by = Azc+ B¢(z,z,u) (1.1) z W(z, z,u) (1.2) y = Cz (1.3) ¢ = 0,2) (14) where u € U © R™ is the control input, y € Y C RP and ¢ € R° are measured outputs, and z € 4 C RY and z € ZC Rt constitute the state vector. The r xr matrix A, the r x 1 matrix B, and p x r matrix C, given by A= block diag [Aj,..., Ap] produced with permission of the copyright owner. Further reproduction prohibited without permission, B = block diag [Bi,..., By] C = block diag (Cy,..., Cp] o1 0 0 oo 1 0 0 0 o1 0 0 0 1 roxrs rot a 10... ...0 teri where 1