A Construction of Nonlinear Servosystem by Using Nonlinear Plug-in Adaptive Control Scheme.

概要

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Recently the design problem of servomechanism for nonlinear systems has been much discussed in control engineering. Our study presented here considers adaptive tracking and disturbance rejection for a class of nonlinear systems that can be transformed into a canonical form. Reference signal and disturbance are composed of the states generated from an autonomous stable linear time-invariant exosystem with unknown parameters. Since proposed compensator is based on nonlinear internal model principle and adopts plug-in control structure, in which the compensator to achieve tracking and disturbance rejection is placed outside the existed feedback controller, reconstruction of original feedback loop is not needed when tracking or disturbance rejection problem occur after the first feedback controller has already been designed. Moreover we show such compensator can be designed by solving the error feedback regulationn problem.
公益社団法人計測自動制御学会の論文