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In this paper, we consider a class of high-order nonlinear systems with unmodelled dynamics from the viewpoint of maintaining the desired control performance (e. g., asymptotical stability) and reducing the control effort. By introducing a new rescaling transformation, adopting an effective reduced-order observer, and choosing an ingenious Lyapunov function and appropriate design parameters, this paper designs an improved output-feedback controller. The output-feedback controller guarantees the globally asymptotical stability of the closed-loop system. Subsequently, taking a concrete system for an example,the smaller critical values for gain parameter and rescaling transformation parameter are obtained to effectively reduce the control effort.
In this paper, we consider a class of high-order nonlinear systems with unmodelled dynamics from the viewpoint of maintaining the desired control performance (eg, asymptotical stability) and reducing the control effort. By introducing a new rescaling transformation, employing an effective reduced- order observer, and choosing an ingenious Lyapunov function and appropriate design parameters, this paper designs an improved output-feedback controller. the output-feedback controller prevents the globally asymptotical stability of the closed-loop system. , the smaller critical values for gain parameter and rescaling transformation parameter are obtained to effectively reduce the control effort.