Taming Internal Dynamics by Mismatched and H-infinity-Optimized State Observer
Soichi Ibaraki and Masayoshi Tomizuka
University of California at Berkeley
Abstract
The feedback linearization control scheme is simple but quite
effective for control of a single-input single-output (SISO) linear
parameter-varying (LPV) plant. When the relative degree of the plant
is less than its order, the feedback linearization control scheme
generates the internal dynamics, which may or may not be stable. This
paper presents the design methodology of a state observer that not
only provides the feedback linearization controller with good
estimation of state variables of the plant, but also stabilizes the
overall closed-loop system. We propose to make the choice of system
matrices of the state observer completely open in order to search for
such an observer structure. Two application examples, including application to steering control for lateral motion of heavy-duty vehicles, are presented to illustrate how the proposed mismatched observer stabilizes the closed-loop system.
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