Robust Control of An Uncertain Nonlinear System With Unobservable Dynamics

This work examines controller design based on feedback linearisation of a nonlinear system in the presence of parametric uncertainty and unobservable dynamics. In this case various analytic constraints make it difficult to design a robust controller in the conventional manner (Isidori (1995)). Through a design example, linear state variable feedback controllers are computed via eigen structure assignment to illustrate the effectiveness of the proposed method. Also sufficient conditions are mentioned which guarantee the stability of the closed-loop system.