| Set-point regulation problem via nonlinear state feedback for a class of nonlinear systems with integral input-to-state stable (iISS) unmodeled dynamics, and state feedback regulation problem for a class of nonlinear systems with iISS unmodeled dynamics and unknown control direction are mainly investigated in this thesis, which is divided into the following two parts.1. The set-point regulation problem via nonlinear state feedback for a class of nonlinear systems with iISS unmodeled dynamics.Consider the following single-input-single-output(SISO) nonlinear systemwhere u∈R,y∈R are the control and the output,ξ=(ξ1,ξ2,…,ξn)T∈Rn is the measurable state vector andη∈Rn0 is not assumed to be measurable. For eachφiT:Ri→Rnθ(i=1,2,…,n,),φi is a known smooth function, q(·) andθ:Rn0×R→Rnθ areuncertain functions. For the sake of existence and uniqueness of solutions, the uncertain functions q(·),θ(·)are locally Lipschitz. Theη-system referred to as unmodeled dynamics is integral input-to-state stable.The control objective of this part is to design a state feedback controller under some assumptions such that all the signals in the closed-loop system are bounded and the tracking error converges to zero.2. The regulation problem via state feedback for a class of nonlinear systems with unknown control directions and iISS unmodeled dynamics.Consider the following single-input-single-output (SISO) system with the unmodeled dy- namics in this partwhere u∈R,y∈R are the control input and the output,ξ=(ξ1, ... ,ξn)T∈Rn is the measurable state vector andη∈Rn0 is not assumed to be measurable. Eachφi(·) (i = 1,2, ... , n) andθ(·)satisfy the same assumptions as 1. The time-varying function gi(t)∈Ii=[li-,li+] and 0 (?) Ii (i = 1,2, ... , n).The control objective of this part is to design a state feedback controller under some assumptions such that all the signals in the closed-loop system are bounded and specially the states converge to zero. |
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