A New Separation Result for Euler-Lagrange-Like Systems

Abstract

This paper presents a separation result for some global stabilization via output feedback of a class of quadratic-like nonlinear systems, under the form of some stabilizability by state feedback on the one hand, and unboundedness observability on the other hand. They allow to design, for any domain of output initial condition, a dynamic output feedback controller achieving global stability. As an example, these conditions are shown to be satisfied by so-called Euler-Lagrange systems, for which a tracking output feedback control law is thus proposed.

Stabilization of Nonlinear Dynamic Systems Using the System State Estimates Made by the Asymptotic Observer

“…Global stabilization of the nonlinear dynamic systems like (1) using the separation principle was considered, for example, in [5,6,14,26,64,89,90,99,104,106,108,130]. The following theorem can be formulated on the basis of the results of [14,139,142,172,173].…”