Digital stabilization of strict feedback dynamics through immersion and invariance

Abstract : This paper deals with the extension to sampled-data stabilization of strict feedback dynamics of the Immersion and Invariance procedure proposed in Astolfi and Ortega [2003]. A direct digital approach is developed in two steps: first the target dynamics and immersion mapping are defined for the equivalent discrete-time model; then the control law is built to drive the dynamics towards the invariant manifold. A simulated example illustrates the performances.
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1st IFAC Conference on Modelling, Identification and Control of Nonlinear Systems (MICNON), Jun 2015, Saint Petersburg, Russia. 48 (11), pp.1074-1079, 2015, IFAC-PapersOnLine. 〈10.1016/j.ifacol.2015.09.336〉
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Mattia Mattioni, Salvatore Monaco, Dorothée Normand-Cyrot. Digital stabilization of strict feedback dynamics through immersion and invariance. 1st IFAC Conference on Modelling, Identification and Control of Nonlinear Systems (MICNON), Jun 2015, Saint Petersburg, Russia. 48 (11), pp.1074-1079, 2015, IFAC-PapersOnLine. 〈10.1016/j.ifacol.2015.09.336〉. 〈hal-01101456〉

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