A Simple Separation Result for Control Affine Systems
| Authors: | Ebenbauer Christian, University of Stuttgart, Germany
Raff Tobias, University of Stuttgart, Germany
Allgoewer Frank, University of Stuttgart, Germany |
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| Topic: | 2.3 Non-Linear Control Systems |
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| Session: | Nonlinear Output Feedback |
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| Keywords: | Separation principle, certainty-equivalence implementation, nonlinear systems, inverse-optimal design, cascades, observer-based control, polynomial control systems. |
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Abstract
The purpose of this paper is to establish a simple global separation result for nonlinear control systems which are affine in the control. In particular, it is shown that a globally asymptotically stabilizing inverse optimal state feedback controller with an asymptotic polynomial growth rate in conjunction with a globally asymptotically stable observer leads to a globally asymptotically stable closed-loop. For example, this asymptotic growth rate condition may be helpful in case of polynomial control systems with a polynomial stage cost.
