Control Problems Lecture Notes by B.

Yao

1
Feedback Control Problem Formulations

Stabilization Problems
System:
For some applications, through certain coordinate transformations, the control
task may be reduced to the convergence problem of the states to the origin.
The control problem can thus be formulated as follows. Consider


( , , )
( , , )
x f t x u
y h t x u
=
=

(C1)

where ( ,0,0) 0 f t = , i.e., the origin is an equilibrium. Want to design a
feedback control law for u so that the origin of the resulting system is
asymptotically stable. We call the feedback control achieves:

- Local Stabilization
when the region of attraction of the origin is unknown.
- Regional Stabilization
when the region of attraction of the origin is known or is guaranteed to
include certain sets.
- Global Stabilization
when the origin is globally asymptotically stable
- Semi-global Stabilization
when any given compact set (no matter how large) can be included in
the region of attraction via suitable choice of feedback gains.
Control Problems Lecture Notes by B.Yao

2
Stabilization via Static State Feedback:
The problem of designing a feedback control law of the form

( , ) u t x = (C2)

such that the origin is an asymptotically stable equilibrium point of the closed-
loop system


( )
, , ( , ) x f t x t x = (C3)


Stabilization via Dynamic State Feedback:
The problem of designing a feedback control law of the form

( , , ) u t x z = (C4)

where z is the solution of a known dynamic system driven by x, i.e.,

( )
, , z g t x z = (C5)
such that the origin is an asymptotically stable equilibrium point of the closed-
loop system


( )
( )
, , ( , , )
, ,
x f t x t x z
z g t x z
=
=

(C6)
Control Problems Lecture Notes by B.Yao

3
Stabilization via Static Output Feedback:
The problem of designing a feedback control law of the form

( , ) u t y = (C7)

such that the origin is an asymptotically stable equilibrium point of the closed-
loop system


( )
, , ( , ) x f t x t x _ = (C8)

where ( , ) t x _ is the unique solution of the algebric nonlinear equation given by


( )
( , ) , ( , , ( , )) t x t h t x t x _ _ = (C9)

Stabilization via Dynamic Output Feedback:
The problem of designing a feedback control law of the form


( )
( , , )
, ,
u t y z
z g t y z
=
=
(C10)

such that the origin is an asymptotically stable equilibrium point of the closed-
loop system

( ) ( )
( )
( ) ( )
, , ( , , ) , ( , , ) , , , ( , , ) ,
, , , , , ( , , )
x f t x t x z t x z t h t x t x z z
z g t y z y h t x t x z
_ _ _
_
= =
= =

(C11)
Control Problems Lecture Notes by B.Yao

4
Tracking Problems in the Presence of Disturbances
In general, we may have to consider


( , , , )
( , , , )
( , , , )
m m
x f t x u w
y h t x u w
y h t x u w
=
=
=

(C12)

where
n
x R e is the state,
p
u R e is the control input,
l
w R e is the disturbance
input,
p
y R e is the controlled output, and
m
m
y R e is the measured output. The
control goal is to design a bounded feedback control law for u so that the
controlled output y tracks a given reference signal r , i.e.,


0
( ) ( ) ( ) 0, e t y t r t t t = ~ > (C13)

We call the feedback control achieves:

- Asymptotic Output Tracking
when ( ) 0 as e t t .
- Asymptotic Disturbance Rejection
when the asymptotic output tracking is achieved in the presence of
disturbance w.
- Guaranteed Transient and Disturbance Attenuation
if the tracking error can be made within a prescribed error bound that
depends on the size of disturbance and the initial tracking error only.