scholarly journals Controller Design of Multiinput Multioutput Time-Delay Large-Scale System

2013 ◽  
Vol 2013 ◽  
pp. 1-11 ◽  
Author(s):  
Chia-Wei Lin ◽  
Tzuu-Hseng S. Li ◽  
Chung-Cheng Chen
Keyword(s):  
Time Delay ◽  
Feedback Linearization ◽  
Large Scale ◽  
Stability Characteristic ◽  
Test Bed ◽  
Pendulum System ◽  
Large Scale Systems ◽  
Almost Disturbance Decoupling ◽  
Inverted Pendulum System ◽  
Disturbance Decoupling

The paper presents a novel feedback linearization controller of nonlinear multiinput multioutput time-delay large-scale systems to obtain both the tracking and almost disturbance decoupling (ADD) performances. The significant contribution of this paper is to build up a control law such that the overall closed-loop system is stable for given initial condition and bounded tracking trajectory with the input-to-state-stability characteristic and almost disturbance decoupling performance. We have simulated the two-inverted-pendulum system coupled by a spring for networked control systems which has been used as a test bed for the study of decentralized control of large-scale systems.

scholarly journals Neural feedback linearization adaptive control for affine nonlinear systems based on neural network estimator

2011 ◽  
Vol 8 (3) ◽  
pp. 307-323 ◽  
Author(s):  
Mohamed Bahita ◽  
Khaled Belarbi
Keyword(s):  
Neural Network ◽  
Nonlinear Systems ◽  
Feedback Linearization ◽  
Pendulum System ◽  
Rbf Network ◽  
Inverted Pendulum System ◽  
Neural Network Controller ◽  
Control Gain ◽  
On Line ◽  
Neural Feedback

In this work, we introduce an adaptive neural network controller for a class of nonlinear systems. The approach uses two Radial Basis Functions, RBF networks. The first RBF network is used to approximate the ideal control law which cannot be implemented since the dynamics of the system are unknown. The second RBF network is used for on-line estimating the control gain which is a nonlinear and unknown function of the states. The updating laws for the combined estimator and controller are derived through Lyapunov analysis. Asymptotic stability is established with the tracking errors converging to a neighborhood of the origin. Finally, the proposed method is applied to control and stabilize the inverted pendulum system.

Discrete-time backstepping control with nonlinear adaptive disturbance attenuation for the inverted-pendulum system

2019 ◽  
pp. 014233121986777
Author(s):  
Fatih Adıgüzel ◽  
Yaprak Yalçın
Keyword(s):  
Discrete Time ◽  
Feedback Linearization ◽  
Inverted Pendulum ◽  
Backstepping Control ◽  
Disturbance Attenuation ◽  
Pendulum System ◽  
Inverted Pendulum System ◽  
Partial Feedback Linearization ◽  
Partial Feedback ◽  
Backstepping Controller

A discrete-time backstepping controller with an active disturbance attenuation property for the Inverted-Pendulum system is constructed in this paper. The main purpose of this study is to show that Immersion and Invariance (I & I) approach can be used to design a nonlinear observer for disturbance estimation and demonstrate its effectiveness considering a nonlinear system with an unstable equilibrium point, namely Inverted-Pendulum system, by utilizing the estimated values in backstepping control design. All designs are directly performed in discrete-time domain to obtain directly implementable observer and controller in discrete processors with superior performance compared to emulators. The Inverted-Pendulum system is not in strict feedback form therefore backstepping procedure cannot be directly applied. In order to enable backstepping construction, firstly a partial feedback linearization is performed and afterwards a novel discrete-time coordinate transformation is proposed. Prior to the construction of partial feedback linearizing and backstepping controller, a nonlinear disturbance estimator design is proposed with Immersion and Invariance approach. The estimated disturbance values used in the partial feedback linearization and construction of the backstepping controller. The global asymptotic stability of the estimator and local asymptotic stability of overall closed loop system are proved in the sense of Lyapunov. Performance of proposed direct discrete-time backstepping control with discrete I & I observer is compared with a backstepping sliding mode controller with another nonlinear disturbance observer (NDO) by simulations.

Non-Fragile Decentralized Control for the Uncertain Singular Large-Scale Systems with Time-Delay

2011 ◽  
Vol 317-319 ◽  
pp. 2204-2207
Author(s):  
Dong Mei Yang ◽  
Qing Sun
Keyword(s):  
Time Delay ◽  
Linear Matrix Inequalities ◽  
Decentralized Control ◽  
Large Scale ◽  
Controller Design ◽  
Linear Matrix ◽  
Sufficient Condition ◽  
Matrix Inequalities ◽  
Large Scale Systems ◽  
System With Time Delay

This paper is concerned with the non-fragile decentralized controller design problem for uncertain singular large-scale system with time-delay. Sufficient condition for the controller is expressed in terms of linear matrix inequalities(LMIs). When this condition is feasible, the desired controller can be obtained with additive gain perturbations and multiplicative gain perturbations. Finally, a numerical example is also given to illustrate the effectiveness.

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