Design of self-tuning lead-lag controllers for nonlinear systems with application to mechatronics

A new procedure for design of self-tuning adaptive lead-lag controllers for use with highly nonlinear systems is developed. The application of this approach to a nonlinear mechatronic system that a conventional linear control has not been successful is also demonstrated. The self-tuning block determines the parameters of the lead-lag controller by solving a set of linear algebraic equations. This control procedure takes into account nonlinear terms of the plant, and this approach reduces the manufacturing cost of mechatronic systems that are required to have high performance and precision.