AN OUTPUT-FEEDBACK STABILIZATION SCHEME USING THE FILTERED COORDINATE TRANSFORMATION

Abstract

An output feedback stabilizing controller is proposed for a class of nonlinear systems that are diffeomorphic to nonlinear observer form which contains uncertainty. In constructing the controller, a filtered coordinate transformation [1], [5] is utilized so as to make the vector field with input constant. Some Riccati-type inequality criteria are derived for the exponential convergence of an observer, the filter, and the system.