Stabilization and tracking via output feedback for the nonlinear benchmark system

Zhong Ping Jiang, David J. Hill, Yi Guo

Research output: Contribution to journalArticleResearchpeer-review

6 Citations (Scopus)


In this paper, we solve the problems of output-feedback semiglobal stabilization and tracking for the nonlinear benchmark RTAC example when the angle of the proof mass and/or the translational position of the cart are considered as the output. The proposed results complement previous work which requires exact knowledge of the translational and/or angular velocities but achieves global stabilization or global tracking. As is demonstrated in simulations, the output-feedback stabilizing and tracking controllers proposed in this paper yield performance as good as their counterparts with state feedback.

Original languageEnglish
Pages (from-to)907-915
Number of pages9
Issue number7
Publication statusPublished - Jul 1998
Externally publishedYes


  • Nonlinear control
  • Observers
  • Output feedback
  • Semiglobal
  • Stabilization
  • Tracking

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