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Book Chapter
Output Feedback
2010
Overview
The exponentially convergent observers developed in Chapter 4 are independent of the control input and can be used with any controller. In this chapter we combine the backstepping observers from Chapter 4 with the backstepping controllers developed in Chapter 2 to solve the output-feedback problems.
First, in Sections 5.1 and 5.2, respectively, we establish closed-loop stability results for observer-based backstepping controllers in anti-collocated and collocated configurations. These results are essentially “separation principle” results for the backstepping approach to output-feedback stabilization.
Then, in Section 5.3 we derive an explicit output-feedback law (in the statespace format) for a reaction-diffusion system with constant
Publisher
Princeton University Press
ISBN
9780691142869, 0691142866
