Approximate optimal PD disturbances rejection control of nonlinear systems based on dynamic compensation

This paper designs approximate optimal PD disturbances rejection controller of nonlinear systems based on dynamic compensation. Using successive approximation theory of differential equations, the original optimal disturbances rejection problem of nonlinear systems is transformed into a sequence of non-homogeneous linear two-point boundary value (TPBV) problems. And it provides the optimization methods of optimal state variables feedback from the time domain into the frequency domain-based optimal PD controller parameters Then the system optimal dynamic compensation network is obtained, which is used to eliminate the influence of the disturbances. The optimal tuning parameters of PD is designed and the algorithm is given. Simulations show that the result in this paper have dynamic performance, and it is also verified the validity and superiority of this method.