Incremental generalized homogeneity, observer design and semiglobal stabilization

The notion of incremental generalized homogeneity is introduced, giving new results on semiglobal stabilization by output feedback and observer design and putting into a unifying framework the stabilization design for triangular (feedback/ feedforward) and homogeneous systems. A state feedback controller and an asymptotic state observer are designed separately by dominating the generalized homogeneity degree of the nonlinearities with the degree of the linear approximation of the system and an output feedback controller is obtained according to a certainty-equivalence principle

A review of convex approaches for control, observation and safety of linear parameter varying and Takagi-Sugeno systems

This paper provides a review about the concept of convex systems based on Takagi-Sugeno, linear parameter varying (LPV) and quasi-LPV modeling. These paradigms are capable of hiding the nonlinearities by means of an equivalent description which uses a set of linear models interpolated by appropriately defined weighing functions. Convex systems have become very popular since they allow applying extended linear techniques based on linear matrix inequalities (LMIs) to complex nonlinear systems. This survey aims at providing the reader with a significant overview of the existing LMI-based techniques for convex systems in the fields of control, observation and safety. Firstly, a detailed review of stability, feedback, tracking and model predictive control (MPC) convex controllers is considered. Secondly, the problem of state estimation is addressed through the design of proportional, proportional-integral, unknown input and descriptor observers. Finally, safety of convex systems is discussed by describing popular techniques for fault diagnosis and fault tolerant control (FTC).Peer ReviewedPostprint (published version