Observer-controller design for linear and nonlinear output-feedback systems.
Item
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Title
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Observer-controller design for linear and nonlinear output-feedback systems.
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Identifier
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AAI9000044
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identifier
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9000044
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Creator
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Louison, Anthony Clive David.
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Contributor
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Adviser: Frederick Thau
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Date
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1989
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Language
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English
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Publisher
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City University of New York.
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Subject
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Engineering, Electronics and Electrical
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Abstract
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This Thesis solves several of the problems in the designing of observer-controllers for linear and nonlinear output-feedback systems. The solution to the linear output-feedback regulator problem is first formulated for continuous time systems. The problem of forcing the estimation error and system state to zero in finite time using a linear controller is then presented. The above problem is solved by appropriately selecting a proper Lyapunov-like function together with a required boundary condition. Parameters N and M are introduced for the controller and observer design respectively in order to shape the state and error trajectories.;The solution to the linear continuous output-feedback regulation problem is then extended to include a class of nonlinear systems for which deadbeat response is also achieved. A detailed analysis is then given on the structure of this class of nonlinear systems. There are design situations where the gains of the observer and controller are constrained and thus a deadbeat response becomes impractical. In such cases, the design technique is modified. It is well shown that the parameters N and M together with the terminal time can be appropriately selected to lead to a design procedure for generating the required gains. Such gains are shown to produce a good compromise among state component excursions and input magnitude without the great expense of speed of response. Several examples are given to demonstrate the design procedures.;Analogously designed procedures are presented for linear discrete systems. A new technique is presented for producing deadbeat response to the output-feedback regulation problem. Modification schemes are formulated for cases where the gains of the observer and controller are constrained and thus a deadbeat response is not feasible. A new scheme is presented for achieving near deadbeat response in output-feedback system without time consuming matrix inversions. Finally a design procedure is presented to place all the eigenvalues of the estimator error dynamic system and the overall closed-loop system at the origin for single input, single output discrete systems.
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Type
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dissertation
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Source
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PQT Legacy CUNY.xlsx
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degree
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Ph.D.
