LIMITS OF PERFORMANCE IN REFERENCE-TRACKING AND PATH-FOLLOWING FOR NONLINEAR SYSTEMS (2008)
A. Pedro Aguiar, João P. Hespanha, Petar Kokotović
Abstract: We investigate limits of performance in reference-tracking and pathfollowing and highlight an essential difference between them. For a class of nonlinear systems, we show that in...
LIMITS OF PERFORMANCE IN REFERENCE-TRACKING AND PATH-FOLLOWING FOR NONLINEAR SYSTEMS (2008)
A. Pedro Aguiar, João P. Hespanha, Petar Kokotović
Abstract: We investigate limits of performance in reference-tracking and pathfollowing and highlight an essential difference between them. For a class of nonlinear systems, we show that in...
Robust Output-Feedback Design Using a New Class of Nonlinear Observers 1 (2007)
This paper analyzes the robustness of a nonlinear observer design recently introduced by the authors. For uncertainties in the nonlinearities, bounds are given within which the observer error...
Path-following or reference-tracking? An answer relaxing the limits to performance (2004)
A. Pedro Aguiar, Dragan B. Dačić, João P. Hespanha, Petar Kokotović
In path-following the control objective is to force the output to follow a geometric path without a timing law assigned to it. We highlight a fundamental difference between the path-following and the...
The 9th Mediterranean Conference on Control and Automation (2001)
An Abbreviated, Petar Kokotović, Murat Arcak
We briefly review selected results in nonlinear and adaptive control, focusing on constructive concepts and design procedures: control Lyapunov functions, feedback passivation, robust and adaptive...
Nonlinear observers: a circle criterion design and robustness analysis (1923)
Murat Arcak, Petar Kokotović, Automatica -hkk-r
Globally convergent observers are designed for a class of systems with monotonic nonlinearities. The approach is to represent the observer error system as the feedback interconnection of a linear...