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Journal of Control Science and Engineering
Volume 2018, Article ID 5806787, 9 pages
Research Article

Dynamic Compensator-Based Output Feedback Controller Design for Uncertain Systems with Adjustable Robustness

Department of Electrical Engineering, Oriental Institute of Technology, No. 58, Section 2, Sihchuan Road, Ban-Chiao, New Taipei City 220, Taiwan

Correspondence should be addressed to Jeang-Lin Chang; wt.ude.tio.liam@530ef

Received 11 April 2017; Revised 18 August 2017; Accepted 17 December 2017; Published 22 January 2018

Academic Editor: Juan-Albino Méndez-Pérez

Copyright © 2018 Jeang-Lin Chang and Tsui-Chou Wu. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


A low-order dynamics compensator-based output feedback stabilization method for a class of uncertain linear MIMO systems with mismatched disturbances is presented. Since all the system states are not measurable, the proposed controller inherently has low-pass filter property in which it can successfully replace the derivative terms of the system output and hence effectively estimate the input disturbance. The control scheme proposed here can simultaneously consider the input saturation problem and obtain the desired performance. Although the system has unknown uncertainties and disturbances, the uniformly ultimate boundedness of system states in the closed-loop system is analytically shown using the Lyapunov method. Finally, two numerical examples are presented to demonstrate the applicability of the proposed scheme.