Feedback passivity approach to output feedback disturbance attenuation for uncertain nonlinear systems

초록

The problem of output feedback disturbance attenuation for a class of uncertain nonlinear systems is studied based on output feedback passification. Previous work on output feedback disturbance attenuation is extended to the case where (1) the nominal system is not transformable into the normal form and (2) the uncertainty is parameterized nonlinearly. An adaptive output feedback controller is also provided that makes a nonlinear system passive. The paper then considers the output feedback disturbance attenuation problem for a class of uncertain nonlinear systems in the normal form and of relative degree one. The difference is that the result is applicable to nonlinear systems that include the uncertainty in the input matrix and do not satisfy the matching condition.

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