Performance recovery of regional input-to-state stabilization by sampled-data output feedback control for nonlinear systems in the presence of disturbance

This paper addresses the design of sampled-data output feedback control for nonlinear systems in the presence of exogenous disturbance, which is based on the state feedback control for the continuous time system. It connects the relationship of uniform regional input-to-state stabilization of sampled-data controller with state feedback control for the original continuous-time system. It shows that not only ISS but also trajectories convergence will be recovered, provided sufficiently small sampling period. Moreover, the advantage of the proposed method of designing a sample-data controller over that of designing a discretized controller for an approximate model is illustrated. An application using high-gain observers to a nonminimum phase single-link flexible robot demonstrates the simplicity of synthesis procedure of the proposed method. (C) 2017 European Control Association. Published by Elsevier Ltd. All rights reserved.