Robust Output Feedback of Minimum Phase Nonlinear Systems

Abstract

A robust output feedback controller is synthesized for minimum phase multivariable nonlinear systems based on the
differential geometry approach. Using the internal model control structure within the input-output (I/O) linearization
framework, the controller is combined with a closed-loop observer to estimate transformed states in the outer-loop. It is
shown that the controller-observer combination achieves robust tracking and estimation using simple tuning
parameters. The effectiveness of the proposed system is illustrated by a simulation example for control of concentration
in a chemical reactor.