Robust Output Feedback Stabilization of Multivariable Invertible Nonlinear Systems: A Feedback Linearization-Based Method

TL;DR

This paper proposes a feedback linearization-based method for robust output feedback stabilization of multivariable invertible nonlinear systems, utilizing extended high-gain observers to achieve semiglobally asymptotic stability.

Contribution

It introduces a systematic approach to approximate ideal state feedback using extended high-gain observers, enhancing robustness in nonlinear system stabilization.

Findings

Achieves semiglobally asymptotic stability of the closed-loop system.

Provides a systematic design method for robust output feedback controllers.

Demonstrates effectiveness through theoretical analysis.

Abstract

This note studies the robust output feedback stabilization problem of a class of multi-input multi-output invertible nonlinear systems, for which an "ideal" state feedback based on feedback linearization can be designed under certain mild assumptions. By systematically designing a set of extended low-power high-gain observers, we show that this "ideal" linearizing feedback law can be approximately estimated, which provides a robust output feedback stabilizer such that the origin of the resulting closed-loop system is semiglobally asymptotically stable.