DocumentCode :
2113936
Title :
Robust tracking for a class of nonlinear plants, achieved via a linear controller
Author :
Riscoli, Francesco D.
Author_Institution :
Dipartimento di Inf. e Sistemistica, Rome Univ., Italy
fYear :
1993
fDate :
15-17 Dec 1993
Firstpage :
3550
Abstract :
This paper deals with the problem of achieving robust output regulation for plants described by nonlinear differential equations. Output regulation means that the closed-loop system is locally exponentially stable about an equilibrium and its output asymptotically tracks any reference signal produced by a fixed external generator. Robust means that the tracking property continues to hold in the occurrence of perturbations in the plant parameters, as long as these perturbations are such that the local stability property is not lost. This paper presents a linear controller which achieves robust regulation for a broad class of nonlinear plants. The paper extends to a nonlinear context the concepts utilized by Francis (1977) in the linear case overcoming a difficulty caused by the presence in the Francis´ proof of an intrinsically linear argument. The results of Francis can be deduced as a particularization of the presented ones
Keywords :
linear systems; nonlinear control systems; nonlinear differential equations; stability; tracking; asymptotic tracking; closed-loop system; fixed external generator; linear controller; local exponential stability; nonlinear differential equations; nonlinear plants; robust output regulation; robust tracking; Control theory; Differential equations; Linear systems; Nonlinear systems; Regulators; Robust control; Robust stability; Robustness; Signal generators; Tracking loops;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Decision and Control, 1993., Proceedings of the 32nd IEEE Conference on
Conference_Location :
San Antonio, TX
Print_ISBN :
0-7803-1298-8
Type :
conf
DOI :
10.1109/CDC.1993.325879
Filename :
325879
Link To Document :
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