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On the design of robust servomechanisms for minimum phase nonlinear systems
Author(s) -
Khalil Hassan K.
Publication year - 2000
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/(sici)1099-1239(20000430)10:5<339::aid-rnc487>3.0.co;2-m
Subject(s) - control theory (sociology) , robustness (evolution) , nonlinear system , servomechanism , robust control , minimum phase , servo , polynomial , describing function , computer science , servomotor , mathematics , transfer function , control engineering , engineering , control (management) , artificial intelligence , mathematical analysis , biochemistry , chemistry , physics , electrical engineering , quantum mechanics , gene
We consider a single‐input single‐output nonlinear system which has a well‐defined normal form with asymptotically stable zero dynamics. We study the design of a robust output feedback controller that incorporates a linear servo compensator to achieve asymptotic tracking and disturbance rejection. We determine the least amount of precise information about the plant that is needed to design the controller. Such design will be robust to plant parameters and uncertainties which are not used in the design calculations. We also study robustness of the design to errors in determining the linear servo compensator. Such errors could arise from approximating a general continuous nonlinear function by a polynomial one, or from errors in determining the frequencies of the exogenous signals. We give regional as well as semiglobal results. Copyright © 2000 John Wiley & Sons, Ltd.