Title :
A Nonlinear IMC approach using model inversion from data
Author :
Canale, M. ; Novara, C. ; Signorile, M.C.
Author_Institution :
Dipt. di Autom. e Inf., Politec. di Torino, Torino, Italy
Abstract :
A novel approach to Nonlinear Internal Model Control (NIMC) is introduced. The proposed control technique is based on recent results for inversion of nonlinear dynamic systems through the identification of plant model from data, using Nonlinear Set Membership methodology, and the computation of its right-inverse. Stability of the obtained NIMC structure is investigated and results are given characterizing the input-output stability properties of the proposed control scheme. Finally, such structure is used in vehicle yaw control context to show its effectiveness and test its performance.
Keywords :
control system synthesis; identification; input-output stability; nonlinear control systems; set theory; vehicles; input-output stability properties; model inversion; nonlinear IMC approach; nonlinear dynamic systems; nonlinear internal model control; nonlinear set membership methodology; plant model identification; vehicle yaw control context; Context modeling; Control system synthesis; Inverse problems; Irrigation; Linear systems; Nonlinear control systems; Nonlinear systems; Stability; Vehicle dynamics; Vehicles;
Conference_Titel :
Decision and Control, 2009 held jointly with the 2009 28th Chinese Control Conference. CDC/CCC 2009. Proceedings of the 48th IEEE Conference on
Conference_Location :
Shanghai
Print_ISBN :
978-1-4244-3871-6
Electronic_ISBN :
0191-2216
DOI :
10.1109/CDC.2009.5400849
