Model reference control for a class of nonlinear systems.

概要

論文の詳細を見る
In this paper the authors consider design problems of controlled objects which are constructed by a cascade connection of a nonlinear element and a linear element, and propose a design method of the control system following a linear reference model.The performance of the control system is measured by the state deviation between the object and the model. The convergence condition of the state deviation is relaxed in order to apply the design method to the practical object having such nonlinear elements as a deadzone and a backlash etc. Namely, on the basis of practical stability and exponential stability, the authors propose the design method in which the deviation converge to the any vicinity of the origin with rate δ of stability where rate δ of stability implies exp (-δt).In the case where the states of the object can utilize directly, the state deviation is converged to any small region with any rate of stability. In the case where the states of the object can not utilize directly, estimated error of the observer is practical stable and the state deviation is converged to any small region with rate δ of stability where δ depends on the zero of nominal system of the object.Finally, computer simulation results are presented to illustrate the effectiveness of the proposed method.
公益社団法人計測自動制御学会の論文