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
fDate :
29 June-1 July 1994
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;
Conference_Titel :
American Control Conference, 1994
Print_ISBN :
0-7803-1783-1
DOI :
10.1109/ACC.1994.735232
