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Semi-global sampled-data output feedback disturbance rejection control for a class of uncertain nonlinear systems. (English) Zbl 1358.93115

Summary: This paper investigates the semi-global output feedback disturbance rejection control problem for a class of uncertain nonlinear systems with additive disturbances using linear sampled-data control. Aiming to reject the adverse effects caused by the uncertainties and unknown nonlinear perturbations which may not satisfy the strict feedback or feedforward structure, a new generalized discrete-time extended state observer is proposed to estimate the disturbance at sampling points. An output feedback disturbance rejection control law is then constructed in a sampled-data form which facilitates digital implementations. By selecting adequate control gains and a sufficiently small sampling period to restrain the state growth under a zero-order-hold input, the semi-global asymptotic stability of the hybrid closed-loop system and the disturbance rejection ability are proved. Both numerical example and an application of a single-link robot arm system demonstrate the feasibility and efficacy of the proposed method.

MSC:

93C57 Sampled-data control/observation systems
93B35 Sensitivity (robustness)
93C41 Control/observation systems with incomplete information
93C10 Nonlinear systems in control theory
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