Exponential stabilizability and observability at the target imply semiglobal exponential stabilizability by templated output feedback
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arXiv
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| Main Authors: | , , , , |
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| Format: | Preprint |
| Published: |
2024
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| _version_ | 1866913196893274112 |
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| author | Andrieu, Vincent Brivadis, Lucas Gauthier, Jean-Paul Sacchelli, Ludovic Serres, Ulysse |
| author_facet | Andrieu, Vincent Brivadis, Lucas Gauthier, Jean-Paul Sacchelli, Ludovic Serres, Ulysse |
| contents | For nonlinear analytic control systems, we introduce a new paradigm for dynamic output feedback stabilization. We propose to periodically sample the usual observer based control law, and to reshape it so that it coincides with a ''control template'' on each time period. By choosing a control template making the system observable, we prove that this method allows to bypass the uniform observability assumption that is used in most nonlinear separation principles. We prove the genericity of control templates by adapting a universality theorem of Sussmann. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2401_07587 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Exponential stabilizability and observability at the target imply semiglobal exponential stabilizability by templated output feedback Andrieu, Vincent Brivadis, Lucas Gauthier, Jean-Paul Sacchelli, Ludovic Serres, Ulysse Optimization and Control For nonlinear analytic control systems, we introduce a new paradigm for dynamic output feedback stabilization. We propose to periodically sample the usual observer based control law, and to reshape it so that it coincides with a ''control template'' on each time period. By choosing a control template making the system observable, we prove that this method allows to bypass the uniform observability assumption that is used in most nonlinear separation principles. We prove the genericity of control templates by adapting a universality theorem of Sussmann. |
| title | Exponential stabilizability and observability at the target imply semiglobal exponential stabilizability by templated output feedback |
| topic | Optimization and Control |
| url | https://arxiv.org/abs/2401.07587 |