Titlebook: Nonlinear Control in the Year 2000; Volume 2 Alberto Isidori,Françoise Lamnabhi-Lagarrigue,Wito Conference proceedings 2001 Springer-Verlag

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Stabilisation of nonlinear systems by discontinuous dynamic state feedback,f an Hamilton-Jacobi like equality with two boundary conditions. The asymptotic stability of the closed loop system is proved and some examples are given. An interesting feature of this method is that the so obtained feedback takes the form of a generalised sliding mode control, in the sense that it

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On the stabilization of a class of uncertain systems by bounded control,d by designing a nonlinear state feedback which renders the uncertain chain of integrators . with respect to exogenous inputs affecting the integrators dynamics. The design methodology proposed can be also seen as a key tool to globally asymptotically stabilize a class of uncertain feedforward syste

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Nonlinear observers of time derivatives from noisy measurements of periodic signals,ed. As it is known when the measurements are not affected by noise, linear high-gain observers can provide arbitrary small estimation errors for the time derivatives by increasing the observer gains. In the presence of noise there is a limitation on the gains to be used beyond which increasing the g

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Hamiltonian representation of distributed parameter systems with boundary energy flow,flow through the boundary of the domain of the system, and which allows to represent the system as a boundary control Hamiltonian system. This port controlled Hamiltonian system is defined with respect to a Dirac structure associated with the exterior derivative and based on Stokes’ theorem. The def

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Singular systems in dimension 3: Cuspidal case and tangent elliptic flat case,and that they are not locally time optimal. The second one is linear in control. The characteristic vector field in sub-Riemannian geometry is generically singular at isolated points in dimension 3. We define a case with symmetries, which we call flat, and we parametrize the sub-Riemannian sphere. T

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Flatness of nonlinear control systems and exterior differential systems,ivalent to the existence of (local) integral manifolds of (.), which is in turn equivalent to the existence of a solution of a partial differential equation. As a consequence, the .-flatness of a nonlinear system can be checked with convenient applications of Cartan-Kähler and Cartan-Kuranishi theor