Premium
Structural design of composite nonlinear feedback control for linear systems with actuator constraint
Author(s) -
Lan Weiyao,
Wang Dan
Publication year - 2010
Publication title -
asian journal of control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.769
H-Index - 53
eISSN - 1934-6093
pISSN - 1561-8625
DOI - 10.1002/asjc.226
Subject(s) - control theory (sociology) , nonlinear system , inverted pendulum , nonlinear control , describing function , linear system , actuator , control engineering , computer science , engineering , control (management) , mathematics , artificial intelligence , mathematical analysis , physics , quantum mechanics
The performance of the composite nonlinear feedback (CNF) control law relies on the selection of the linear feedback gain and the nonlinear function. However, it is a tough task to select an appropriate linear feedback gain and appropriate parameters of the nonlinear function because the general design procedure of CNF control just gives some simple guidelines for the selections. This paper proposes an operational design procedure based on the structural decomposition of the linear systems with input saturation. The linear feedback gain is constructed by two linear gains which are designed independently to stabilize the unstable zero dynamics part and the pure integration part of the system respectively. By investigating the influence of these two linear gains on transient performance, it is flexible and efficient to design a satisfactory linear feedback gain for the CNF control law. Moreover, the parameters of the nonlinear function are tuned automatically by solving a minimization problem. The proposed design procedure is illustrated by applying it to design a tracking control law for the inverted pendulum on a cart system. Copyright © 2010 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society