Difference feedback can stabilize uncertain steady states

H. Kokame, K. Hirata, K. Konishi, T. Mori

Research output: Contribution to journalArticlepeer-review

81 Citations (Scopus)


The present note is concerned with the stabilization of uncertain steady states by the state difference feedback. The feedback method has a peculiar feature that it uses only the difference between the present state x(t) and the past state x(t - T), considering exact information on the steady state is unavailable. Hitherto a condition is known under which such stabilization can not be realized. The present note conversely shows that the state difference feedback can stabilize just if the exclusion condition is not true. Furthermore a dynamic output difference feedback is shown to be able to stabilize under quite a mild condition that the steady state is not associated with zero eigenvalues. The ability of the method is illustrated by using a cart-pendulum system which moves along a one dimensional varying slope.

Original languageEnglish
Pages (from-to)1908-1913
Number of pages6
JournalIEEE Transactions on Automatic Control
Issue number12
Publication statusPublished - Dec 2001
Externally publishedYes


  • Cart-pendulum system
  • Delay differential equation
  • Difference feedback
  • Stabilization
  • Uncertain steady state

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering


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