Paper FrP10.5
Masuda, Shiro (Tokyo Metropolitan Univ.)
A Nonlinear Internal Model Control for Strict Feedback Forms
Scheduled for presentation during the Regular Session "Nonlinear Control III" (FrP10), Friday, July 28, 2006,
17:00−17:25, Room 103
17th International Symposium on Mathematical Theory of Networks and Systems, July 24-28, 2006, Kyoto, Japan
This information is tentative and subject to change. Compiled on March 28, 2024
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Keywords Control of nonlinear systems, Stability analyisis, Stability
Abstract
This paper proposes a nonlinear internal model control (IMC) for a single-input, single-output, continuous-time, system described for a strict feedback form. While the IMC strategy for linear systems have mainly discussed, there have been several researches on design methods for nonlinear IMC. However, most of all researches require a so-called model-matching condition so that nonlinear terms could be canceled by the control law. Hence, some extensions should be needed in order to apply a nonlinear IMC for the nonlinear systems desribed for a strict feedback form. The proposed method in this paper solves the problem by utilizing the backstepping method. The paper gives condition of the feedback signal filter, and proves global stability of the proposed nonlinear IMC.
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