Observer based state feedback control of uncertain nonlinear systems

ABSTRACTMaster ThesisOBSERVER BASED STATE FEEDBACK CONTROL OF UNCERTAINNONLINEAR SYSTEMSGünyaz ABLAYFirat UniversityGraduate School of Natural and Applied SciencesDepartment of Electrical and Electronics Engineering2006, Page: 109In this thesis, an observer based robust control is designed for the uncertain linear andnonlinear systems. The closed loop stability is achieved by employing Lyapunov stabilitytheory. The control parameters are adjusted in order to achieve the desired closed loopperformance. The controller has linear and nonlinear parts. The gains of linear part are designedbased on linear quadratic regulator, LQR. The nonlinear part of the controller has bang-bangcharacteristic to cope with nonlinearities and uncertainties.Keywords: Nonlinear systems, nonlinear control, uncertain systems, linear systems,observer, LQR.