Model reference robust control of systems with significant unmodelled dynamics

    Authors

    Z. H. Qu

    Comments

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    Abbreviated Journal Title

    Int. J. Robust Nonlinear Control

    Keywords

    Lyapunov stability; unmodelled dynamics; tracking control; unknown; functional dynamics; robust control; differential equation of infinite; order; GENERALIZED MATCHING CONDITIONS; NONLINEAR UNCERTAIN SYSTEMS; REFERENCE; ADAPTIVE-CONTROL; LINEAR-SYSTEMS; STABILITY; Automation & Control Systems; Engineering, Electrical & Electronic; Mathematics, Applied

    Abstract

    In this paper, a recently proposed control design technique, model reference robust control (MRRC),(1) is generalized to provide input-output robust control for a much wider class of SISO systems. A system under consideration may contain not only parametric uncertainties, disturbances, uncertain high-order nonlinearities associated with system output (including stable unmodelled dynamics of the output), but also multiplicative unmodelled dynamics of the input of the system. Input unmodelled dynamics may be unstable and of infinite dimension. Common assumptions such as the order of the system, or bounds on system parameters, or coefficients in size-bounding functions on uncertainties and unmodelled dynamics are not needed in this paper. The a priori information required to apply the proposed design procedure includes the relative degree of the overall system, closed-form expressions of bounding functions, and, for arbitrarily small error in tracking the output of any given reference model, the minimum phase condition. Under the proposed control, the output tracking error can be made arbitrarily small to achieve any specified tracking accuracy. The distinct feature of MRRC is that neither uncertainties nor unmodelled dynamics are required to be small. (C) 1997 by John Wiley & Sons, Ltd.

    Journal Title

    International Journal of Robust and Nonlinear Control

    Volume

    7

    Issue/Number

    11

    Publication Date

    1-1-1997

    Document Type

    Article

    Language

    English

    First Page

    951

    Last Page

    974

    WOS Identifier

    WOS:A1997YE58800001

    ISSN

    1049-8923

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