Nonovershooting control of strict-feedback nonlinear systems

Miroslav Krstic; Matt Bement

doi:10.1109/TAC.2006.886518

Nonovershooting control of strict-feedback nonlinear systems

Miroslav Krstic, Matt Bement

Research output: Contribution to journal › Article › peer-review

130 Scopus citations

Abstract

A means of obtaining a nonovershooting output tracking response for single-input-single-output (SISO) strict-feedback nonlinear systems is introduced. With the proposed method, arbitrary reference trajectories can be tracked "from below" for arbitrary initial conditions (as long as the initial value of the plant output is strictly below the initial value of the reference trajectory). In addition, a design is presented for "approximately" nonovershooting control in the presence of disturbances, where the amount of overshoot can be made arbitrarily small by appropriately choosing the control gains. Finally, an output-feedback example shows the ability of our approach to ensure arbitrarily small overshoot, where the overshoot is caused by the initial condition of the unmeasured part of the state.

Original language	English
Pages (from-to)	1938-1943
Number of pages	6
Journal	IEEE Transactions on Automatic Control
Volume	51
Issue number	12
DOIs	https://doi.org/10.1109/TAC.2006.886518
State	Published - Dec 2006
Externally published	Yes

Funding

Manuscript received November 1, 2005; revised May 3, 2006. Recommended by Associate Editor D. Dochain. This work was supported by the Los Alamos National Laboratory and by National Science Foundation under Grant CMS-0329662. M. Krstic is with the Department of Mechanical and Aerospace Engineering, the University of California, San Diego, La Jolla, CA 92093-0411 USA (e-mail: [email protected]). M. Bement is with Los Alamos National Laboratory, Los Alamos, NM 87545 USA. Color version of Fig. 1 available online at http://ieeexplore.ieee.org. Digital Object Identifier 10.1109/TAC.2006.886518

Funders	Funder number
National Science Foundation	CMS-0329662
Los Alamos National Laboratory

Keywords

Backstepping
Nonovershooting control

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10.1109/TAC.2006.886518

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AB - A means of obtaining a nonovershooting output tracking response for single-input-single-output (SISO) strict-feedback nonlinear systems is introduced. With the proposed method, arbitrary reference trajectories can be tracked "from below" for arbitrary initial conditions (as long as the initial value of the plant output is strictly below the initial value of the reference trajectory). In addition, a design is presented for "approximately" nonovershooting control in the presence of disturbances, where the amount of overshoot can be made arbitrarily small by appropriately choosing the control gains. Finally, an output-feedback example shows the ability of our approach to ensure arbitrarily small overshoot, where the overshoot is caused by the initial condition of the unmeasured part of the state.

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Nonovershooting control of strict-feedback nonlinear systems

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