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
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