Output feedback control of nonlinear hybrid dynamic systems

Abstract

This paper presents a robust high gain output feedback control for a class of a global uniformly observable and controllable hybrid dynamic system. The main topic is to switch between different controllers for every transients periods with the choice of various parameters to track a reference trajectory using the information available from the measurement of the output system. Theoretical analysis is derived to ensure the global stability of the hybrid state output control. Such control law require the knowledge of the system state, as a resulting an estimation problem is overcome through the use of a high gain exponentially converging observer. Finally, computer simulations are developed for a quadruple tank process to validate the performances of such controller including a high mode observer against step like disturbance.