Title:

Robust Stabilization at Uncertain Equilibrium by Output Derivative Feedback Control

The problem of stabilizing dynamic systems with unknown or uncertain equilibrium states is studied. We propose an output derivative feedback control scheme for the local stabilization of such a system at its true equilibrium state. We consider the case where norm-bounded uncertainties are present in the system model to derive robust stability conditions in linear matrix inequality form. A practical example involving a magnetic levitation system, in which two disks are to be levitated at an unknown magnetic equilibrium, demonstrates the effectiveness of the output derivative feedback controller.

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