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ROBUST PRACTICAL OUTPUT TRACKING FOR HIGHLY NONLINEAR SYSTEMS

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This talk discusses the robust practical output tracking problem using a dynamic output feedback controller (i.e., an output compensator) for a family of uncertain nonlinear systems whose Jacobian linearization may be unstabilizable and/or undetectable. It is shown that under some mild conditions on a given system there is an output compensator achieving robust practical output tracking and such a compensator is explicitly constructed by the “coupled controller-observer method” recently proposed. The usefulness of our result is illustrated by some simple numerical examples. Finally if time allows the recent project “Human Adaptive Mechatronics (HAM) the speaker was involved at TDU will be briefly explained.

This talk is part of the CUED Control Group Seminars series.

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