Abstract
This paper describes a technique which has been found useful in controlling a large class of nonlinear and linear systems with relatively weak assumptions regarding their structure. The methodology presented does not rely on a linear parametrization of the system equations, nor on knowledge of their functional form. It is thereby inherently robust to modelling errors and disturbances. Exponential tracking convergence, model convergence, and prescribed transient response are characteristics of the method which relies on the deadbeat identification of the vector field associated with the system.
A controller based on the methods presented in the paper has been extensively evaluated in both simulation and hardware implementation on significant industrial plants. Controller performance is illustrated in the paper.
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References
I. M. Y. Mareels, H. B. Penfold and R. J. Evans, “Controlling Non-Linear Time-Varying Systems via Euler Approximations”.University of Newcastle Technical Report EE8939, 1989. Submitted for publication in Automatica.
H. B. Penfold, Nonlinear Control: An Alternative Perspective, Ph.D. Thesis, The University of Newcastle, April 1990.
H. B. Penfold and R. J. Evans, “A Control Algorithm for Unknown Time-Varying Systems”,International Journal of Control, 1989, Vol. 50, No. 1, 13–32.
S. Sastry and A. Isidori, “Adaptive Control of Linearizable Systems,” Colloque International Automatique Nonlinéare, CNRS, Nantes, France, June 1988.
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© 1991 Springer Science+Business Media New York
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Penfold, H.B., Mareels, I.M.Y., Evans, R.J. (1991). A Non-linear Adaptive Control Algorithm Based on System Flow Approximations. In: New Trends in Systems Theory. Progress in Systems and Control Theory, vol 7. Birkhäuser, Boston, MA. https://doi.org/10.1007/978-1-4612-0439-8_72
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DOI: https://doi.org/10.1007/978-1-4612-0439-8_72
Publisher Name: Birkhäuser, Boston, MA
Print ISBN: 978-1-4612-6760-7
Online ISBN: 978-1-4612-0439-8
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