Stabilization of feedforward discrete-time dynamics through Immersion and Invariance

Salvatore Monaco (1) , Dorothée Normand-Cyrot (2) , Mattia Mattioni (1, 2)

1 UNIROMA - Università degli Studi di Roma "La Sapienza" = Sapienza University [Rome]
2 L2S - Laboratoire des signaux et systèmes

The paper deals with the problem of stabilizing discrete-time feedforward dynamics through Immersion and Invariance. Closed loop stabilization of the equilibrium is achieved making use of a passivity-based controller combined with a domination argument. A simulated example illustrates the performances.

Mots clés: Lyapunov methods; Stability of non-linear systems; Nonlinear output feedback

Domaines: Automatique; Systèmes et contrôle [cs.SY]

Salvatore Monaco, Dorothée Normand-Cyrot, Mattia Mattioni. Stabilization of feedforward discrete-time dynamics through Immersion and Invariance. 2016 American Control Conference (ACC), Jul 2016, Boston, United States. pp.264 - 269, ⟨10.1109/ACC.2016.7524926⟩. ⟨hal-01323560⟩