Robust control gained a foothold in economics in the late 1990s and has seen increasing numbers of economic applications in the past few years. Characteristics numerous methods and approaches exist for the analysis and design of. Isidori springer verlag, 1995 a reference for geometric approach applied nonlinear control j. This book emerges from the awardwinning book, nonlinear systems, but has a distinctly different mission and organization. Linear robust control prentice hall information and system. Nonlinear control systems australian national university. Robust feedback linearization control for reference. Summary balancing rigorous theory with practical applications, linear systems. Robust control methods for nonlinear systems with uncertain dynamics and unknown control direction by.
Nonlinear and optimal control theory lectures given at the c. With the help of a little laboratory experience, students soon realize that a typical design. Indirect adaptive robust control with backstepping. In the case, the meaning of the expression 6 is that some uncontrollable or. Nonlinear adaptive control ac deterministic robust control drc reduceeliminate uncertainties through parameter adaptation to achieve asymptotic tracking. Robust control lyapunov function rclf the concept of a control lyapunov function clf is a tool for solving stabilization tasks. This book presents advances in the theory and design of robust nonlinear control systems. Bilinear robust controller to minimize hiv concentration. Dale peterson, digital bond read robust control system networks its brief, concise, wellwritten, full of compelling anecdotes, and groundbreaking richard bejtlich, taosecurity he was the researcher who was one of the first to identify and analyze the infamous industrial control. Robust control for linear parametric uncertain systems with output feedback. Theory of robust control institute of mathematical methods in. Stochastic robust control design for nonlinear systems.
Direct adaptive robust control design with backstepping. Clearly, the key issue with robust control systems is uncertainty and how the control system can deal with this problem. Stefani springer berlin heidelberg newyork hongkong london milan paris tokyo. The classical output feedback optimal control problem for siso systems was solved during the 2nd world war using a frequency domain. Developed as a twocourse book, this selfcontained text first discusses linear systems, including controllability, observability, and matrix. Pdf observerbased robust control of onesided lipschitz. Third, a nonlinear robust control method is proposed based on the concepts of inputoutput feedback linearization and sliding manifold without involving discontinuous functions. Mathematical methods for robust and nonlinear control. Green at cornell university and used the book as a text. Nonlinear robust stochastic control for unmanned aerial. In robust control, the model uncertainty is characterized as a perturbation of a nominal model. Balancing rigorous theory with practical applications, linear systems. Udenote the linear vector space of control functions ut. Provide an accessible approach to nonlinear control.
Summer school held in cetraro, italy, june 1929, 2004 editors. Next, the undetermined control parameters, weights and. Robust model based control of constrained systems by reza ghaemi a dissertation submitted in partial ful llment of the requirements for the degree of doctor of philosophy electrical engineering systems in the university of michigan 2010 doctoral committee. Pdf on apr 11, 2011, khaled halbaoui and others published introduction to. The student will use matlabs robust control toolbox to synthesize hinfinity controllers. A nonlinear dobc approach article pdf available in journal of dynamic systems measurement and control 87 march 2016 with 154 reads. Control systems such as in these examples use in an essential way the idea of feedback, the central theme of this chapter. Robust output tracking of uncertain large scale input. While nonlinear systems was intended as a reference and a text on nonlinear system analysis and its application to control, this streamlined book is intended as a text for a. It is closely related to nonlinear systems theory in general, which provides its basic analysis tools.
Observerbased robust control of onesided lipschitz nonlinear systems article pdf available in isa transactions 65 august 2016 with 344 reads how we measure reads. Robust nonlinear control design strategies using sliding mode control smc and integral smc ismc are developed, which are capable of achieving reliable. In these notes we intend to develop the theory of robust control for linear time invariant finitedimensional systems that are briefly called ltisystems. You may think of the nominal model as a point in a space and the perturbed models as points in a ball that contains the nominal model. The purpose of this simulation is to determine the performance of. Ece5530, introduction to robust control 79 the optimal lqr controller has very large gainphase margins. This paper deals with the robust output tracking problem of uncertain large. Some of the proposed problems are i remember the headaches of high dificulty but having the book along with. Frequency domain perspective week 9, 10 sections 9. Nonlinear adaptive robust control purdue university.
Controllers are designed to be robust to the uncertainty, that is, to achieve a desired level of performance for any plant in the set. H2 and hooptimal control theory in a concise way, requiring only a. Robust control for linear parametric uncertain systems. This theory has b een dev elop ed largely during 1980s. Robust linear control ee 60555 university of notre dame. When only an output signal is available for feedback, the problem is more complex, as briefly discussed in the last section. The theory of robust linear control systems has grown remarkably over the. In particular, the mathematical pects can be problematic for students from a standard engineering background. Robust output tracking of uncertain large scale inputdelay systems via decentralized fuzzy sliding mode control chiangcheng chiang department of electrical engineering, tatung university, 40 chungshan north road, sec. Recent decades have witnessed enormous strides in the field of robust control of dynamical systemsunfortunately, accounts of many of these developments. The underlying theory on which much modern robust and nonlinear control is based can often be dif.
Optimal and robust control explains the concepts behind linear systems, optimal control, and robust control and illustrates these concepts with concrete examples and problems. The course provides a comprehensive treat of hinfinity control that includes its relationship to h2 control, model reduction, classical loopshaping, and convex methods. In the first part of the book, the authors provide a unified framework for statespace and lyapunov techniques by combining concepts from setvalued analysis, lyapunov stability theory, and game theory. Linear robust control linear robust controlmichael green australian national university canberra, australiadavid j. This minimization is done with respect to the closedloop systems hinfinity norm. Robust optimal control in notcompletely controllable. Nonlinear control theory is concerned with the analysis and design of nonlinear control systems. Control theory is the branch of engineeringscience concerned with the design and analysis of control systems.
Robust control toolbox provides functions and blocks for analyzing and tuning control systems for performance and robustness in the presence of plant uncertainty. Aiaa guidance, navigation and control conference 2014. The robust control design approach is illustrated by a simple nonlinear. First, a brief overview of the predictive filter for nonlinear. This problem may be abstracted as that of the attitude control of rigid body, which is. A comparative study on robustness and performance ahmad gazar 1, majid khadiv, andrea del prete2, ludovic righetti. The international journal of robust and nonlinear control promotes development of analysis and design techniques for uncertain linear and nonlinear systems. The next numerical simulations are the application of robust. International journal of robust and nonlinear control. This book is perfect if you have a good understanding of linear algebra as well as optimal control theory.
With the initial condition, the control law 6 provides the robust control. Welcome to the official webpage of the ifac technical committee on robust control 2. That the thesis entitled robust control through robustness. Applied nonlinear control, slotine and li, prenticehall 1991. Robotics 2 2 problem formulation given the real robot, modeled by assuming an estimated feedback linearization control we would like to design so as to obtain asymptotic stability of the closedloop system the best possible trajectory tracking performance the linear feedback choice is not enough. From chandraseken98, robust control refers to the control of unknown plants with unknown dynamics subject to unknown disturbances. Robust control methods for nonlinear systems with uncertain.
1288 16 1051 89 1337 417 512 944 803 52 626 553 1366 148 66 16 863 596 1049 89 1140 401 308 1049 1465 1380 567 1431 1441 1422 229 91 162 396 1087 1107 924 1148 1428 910 1072 182 517 1446 737