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Globally stabilizing output feedback methods for nonlinear systems Open Access


Other title
control theory, nonlinear systems theory, Lyapunov methods, constructive control design
Type of item
Degree grantor
University of Alberta
Author or creator
Kvaternik, Karla
Supervisor and department
Lynch, Alan F. (Electrical and Computer Engineering)
Examining committee member and department
Tavakoli, Mahdi (Electrical and Computer Engineering)
So, Joseph (Mathematics)
Department of Electrical and Computer Engineering

Date accepted
Graduation date
Master of Science
Degree level
The non-local stabilization of nonlinear systems by output feedback is a challenging problem that remains the subject of continuing investigation in control theory. In this thesis we develop two globally asymptotically stabilizing output feedback algorithms for multivariable nonlinear systems. Our first result is an extension a well-known output feedback method to a class of nonlinear systems whose dynamics can be written as a collection of subsystems that are dynamically coupled through output-dependent nonlinear terms. We show that this method must be modified to accommodate the dynamic coupling by introducing additional nonlinear damping terms into each control input. Our second contribution involves the application of observer backstepping to systems in a restricted block-triangular observer form. In this form, the nonlinearities entering each subsystem are allowed to depend on the output associated with the subsystem, and all upper subsystem states, including unmeasured ones. The proposed algorithm is demonstrated on a magnetically levitated ball.
Permission is hereby granted to the University of Alberta Libraries to reproduce single copies of this thesis and to lend or sell such copies for private, scholarly or scientific research purposes only. Where the thesis is converted to, or otherwise made available in digital form, the University of Alberta will advise potential users of the thesis of these terms. The author reserves all other publication and other rights in association with the copyright in the thesis and, except as herein before provided, neither the thesis nor any substantial portion thereof may be printed or otherwise reproduced in any material form whatsoever without the author's prior written permission.
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