DocumentCode
2432461
Title
A high gain PI controller for a class of nonlinear systems
Author
Xing, S.X. ; Davison, E.J.
Author_Institution
Dept. of Electr. & Comput. Eng., Toronto Univ., Ont., Canada
Volume
3
fYear
1994
fDate
29 June-1 July 1994
Firstpage
3506
Abstract
In this paper, the asymptotic tracking problem is considered for a class of multivariable nonlinear systems by using the principles of singular perturbation theory. Sufficient conditions together with a high-gain PI controller are given for a solution to exist. An application study of a three-link rigid robotic manipulator is included to illustrate the type of results which may be obtained by using the proposed controller.
Keywords
multivariable control systems; nonlinear control systems; singularly perturbed systems; tracking; two-term control; asymptotic tracking problem; high-gain PI controller; multivariable nonlinear systems; singular perturbation theory; three-link rigid robotic manipulator; Closed loop systems; Control systems; Nonlinear control systems; Nonlinear systems; Stability;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 1994
Print_ISBN
0-7803-1783-1
Type
conf
DOI
10.1109/ACC.1994.735232
Filename
735232
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