Nonlinear observer/controller design for a class of nonlinear systems

Yaolong Tan, Ioannis Kanellakopoulos, Zhong Ping Jiang

Research output: Contribution to journalConference article


We develop a new global output-feedback stabilization and tracking method for a subclass of strict-feedback nonlinear systems. This subclass is characterized by nonlinearities that are affine functions of the derivative of the measured output, with coefficients that are smooth nonlinear functions of the measured output. The novelty of our method is a nonlinear transformation of the unmeasured states in the observer design, which eliminates the dependence of the nonlinearities on the derivative of the measured output. The combination of the nonlinear observer and the nonlinear controller stabilizes the system and guarantees exponential convergence of the tracking error to zero.

Original languageEnglish (US)
Pages (from-to)2503-2508
Number of pages6
JournalProceedings of the IEEE Conference on Decision and Control
StatePublished - Dec 1 1998
EventProceedings of the 1998 37th IEEE Conference on Decision and Control (CDC) - Tampa, FL, USA
Duration: Dec 16 1998Dec 18 1998


ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization

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