DocumentCode :
815253
Title :
A novel approach to control of nonminimum-phase nonlinear systems
Author :
Lee, Ju-Il ; Ha, In-Joong
Author_Institution :
Storage Signal Process. Group, Philips Res. Lab., Eindhoven, Netherlands
Volume :
47
Issue :
9
fYear :
2002
fDate :
9/1/2002 12:00:00 AM
Firstpage :
1480
Lastpage :
1486
Abstract :
We present an approach to control of nonminimum-phase multiple-input-multiple-output (MIMO) nonlinear systems based on a singular perturbation-like technique. First, we show that a MIMO nonlinear system can be converted into a singularly perturbed system through magnitude and time-scaling transformation. In particular, the proposed transformation technique can make the hidden or internal dynamics behave like a fast subsystem. However, the fast subsystem takes a weakly controllable form, which implies that a small positive low-gain parameter multiplies the control input in the fast subsystem. For this reason, the well-known integral manifold approach is then utilized to decompose the resulting singularly perturbed system into two subsystems in separate timescales, each of which is of a lower dimension and, more importantly, controllable in the sense that the control input will explicitly appear in the boundary-layer system. The proposed method is particularly useful to make the input-output dynamic characteristics of a decouplable nonminimum-phase nonlinear system decoupled and linear.
Keywords :
MIMO systems; feedback; linearisation techniques; nonlinear control systems; singularly perturbed systems; MIMO system; decouplable system; hidden dynamics; input-output linearization; integral manifold approach; internal dynamics; nonminimum-phase multiple-input-multiple-output systems; nonminimum-phase nonlinear systems; singular perturbation-like technique; singularly perturbed system; Automatic control; Control systems; Design methodology; Integral equations; Linear feedback control systems; MIMO; Nonlinear control systems; Nonlinear dynamical systems; Nonlinear systems; Perturbation methods;
fLanguage :
English
Journal_Title :
Automatic Control, IEEE Transactions on
Publisher :
ieee
ISSN :
0018-9286
Type :
jour
DOI :
10.1109/TAC.2002.802764
Filename :
1032303
Link To Document :
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