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2015, SYSTEMS & CONTROL LETTERS, Pages 1-8 (volume: 83)

Output feedback stabilization of nonlinear MIMO systems having uncertain high-frequency gain matrix (01a Articolo in rivista)

Wang Lei, Isidori Alberto, Su Hongye

The purpose of this paper is to provide a method for (semi-global) asymptotic stabilization of a nonlinear minimum-phase MIMO system, under a mild hypothesis of the so-called "high-frequency gain" matrix. This result is based on a non-trivial extension, to the MIMO setting, of the approach based on the use of extended observers. As a byproduct, a dynamic output feedback control is obtained, that asymptotically stabilizes the equilibrium of the closed-loop system, in spite of uncertainties in the high-frequency gain matrix. © 2015 Elsevier B.V. All rights reserved.
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