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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Communication dans un congrès
1st IFAC Conference on Modelling Identification and Control of Nonlinear Systems MICNON, Jun 2015, Saint Petersbourg, Russia. 2015, Proceeding of the 1st IFAC Conference on Modelling Identification and Control of Nonlinear Systems MICNON
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M. 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 Petersbourg, Russia. 2015, Proceeding of the 1st IFAC Conference on Modelling Identification and Control of Nonlinear Systems MICNON. 〈hal-01101456〉

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