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.