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An Internal-Model Controller for a Class of Single-Input Single-Output Nonlinear Systems: Stability and Robustness
Authors:Joaquin Alvarez  Salvador Zazueta
Affiliation:(1) Scientific Research and Advanced Studies Center of Ensenada (CICESE), Km. 107 Carretera Tijuana-Ensenada, 22860 Ensenada, BC, México
Abstract:A controller design procedure for a class of nonlinear systems is presented. The structure of the control system corresponds to the so-called internal-model controller that, for linear systems, has exhibited good performance and stability robustness with respect to disturbances and to uncertainty in the plant parameters. The systems involved are single-input single-output and fully linearizable by coordinates transformation and state feedback. It is shown that the plant output converges to a constant reference, even under the presence of constant disturbances and parameter uncertainties, provided the closed-loop system has an asymptotically stable equilibrium point placed anywhere. This scheme does not need an explicit design of a nonlinear observer; instead, it uses the state of a plant model. A conservative stability robustness margin is estimated by applying standard results of Lyapunov theory.
Keywords:nonlinear systems  feedback linearization  internal-model control  Lyapunov theory  stability robustness
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