On Stability of Koopman Operator-Based Output-Driven Control

Résumé fourni par la source

We present conditions of stability for an output feedback control framework of (unknown) nonlinear systems using Koopman operator theory, integrating derivative estimation via high-gain observers (HGOs) and gain synthesis through linear quadratic tracking (LQT) optimal controller. We show that this modeling process can be done effectively using output data only, the whole control strategy is output-driven. Closed-loop stability is proven under conditions where the residual errors from the HGO estimation and the Koopman model truncation effects are bounded. The accuracy of the Koopman model depends solely on these residuals, relying instead on the quality of the data-driven model and observer performance. Numerical simulations of a nonlinear system validate the theoretical results.

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