A robust internal model controller for nonlinear systems
Proceedings of the American Control Conference - Tập 1 - Trang 561-566 vol.1
Tóm tắt
A redesign of a control algorithm for nonlinear systems having the structure called internal model controller is proposed. This new controller, based on a Lyapunov stability technique, displays a better robust performance than the classical IMC structure. The controller is continuous, so it does not present chattering. Furthermore, a saturated, high gain observer is included to overcome the problem of needing full access to the plant state. Some experimental results obtained for the control of electric motors used as drivers of astronomical telescopes show the performance of the proposed control strategy.
Từ khóa
#Robust control #Control system synthesis #Nonlinear control systems #Nonlinear systems #Robust stability #Uncertain systems #Telescopes #Control systems #Filters #AstronomyTài liệu tham khảo
10.1016/S0947-3580(00)71135-6
10.1007/978-1-4471-0853-5_4
wang, 1994, Robustness and perturbation analysis of a class of nonlinear systems with application to neural networks, IEEE Tr on Circs and Syst Part I Fundamental Theory, 41, 24, 10.1109/81.260216
10.1016/0009-2509(89)85126-7
10.1023/A:1008286412428
alvarez, 0, Tracking and regulation reference model control of nonlinear systems, Proc of the 1989 IFAC NOLCOS Capri 1989, 466
morari, 1989, Robust Process Control
ibarra, 1991, General handbook of the electronic panel for controlling the 1.5m-telescope of San Pedro Martir, Mexico
10.1002/aic.690370711
10.1021/i200033a010
10.1021/ie00082a015
10.1007/BFb0007597
khalil, 1994, Robust servomechanism output feedback controllers for feedback linearizable systems, Automatica, 30, 1587, 10.1016/0005-1098(94)90098-1