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SUMMARY:ROBUST PRACTICAL OUTPUT TRACKING FOR HIGHLY NONLINEAR SYSTEMS - Pr
 ofessor Hiroshi Inaba (School of Science and Engineering\, Tokyo Denki Uni
 versity\, Guest Professor\, Bristol Institute of Technology\, University o
 f the West of England)
DTSTART:20090420T130000Z
DTEND:20090420T140000Z
UID:TALK17835@talks.cam.ac.uk
CONTACT:Dr Guy-Bart Stan
DESCRIPTION:This talk discusses the robust practical output tracking probl
 em using a dynamic output feedback controller (i.e.\, an output compensato
 r) for a family of uncertain nonlinear systems whose Jacobian linearizatio
 n may be unstabilizable and/or undetectable. It is shown that under some m
 ild conditions on a given system there is an output compensator achieving 
 robust practical output tracking and such a compensator is explicitly cons
 tructed by the “coupled controller-observer method” recently proposed.
  The usefulness of our result is illustrated by some simple numerical exam
 ples. Finally if time allows the recent project “Human Adaptive Mechatro
 nics (HAM) the speaker was involved at TDU will be briefly explained.
LOCATION:Cambridge University Engineering Department\, Lecture Room 5
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