Robust SISO H-infty Controller Design for Nonlinear Systems
Robust SISO H-infty Controller Design for Nonlinear Systems
G. A. Ingram, M. A. Franchek, V. Balakrishnan, and G. Surnilla
Control Engineering Practice,
Volume 13, Issue 11, pp. 1413--1423, November 2005.
Abstract:
Presented in this paper is a nonlinear SISO controller design
methodology for a class of Hammerstein models. The design process is
composed of standard system identification techniques integrated with
an H-infinity linear controller synthesis formulation. The system
identification portion of this work first identifies the static,
single valued nonlinearity capturing the nonlinear behavior of the
system. This nonlinearity is then inverted and serves as a
precompensator to the system input. The frequency response function
is then identified with the precompensator in place to capture the
linear dynamics of the system. Errors associated with the nonlinear
inversion are addressed in an unstructured uncertainty formulation. A
robust H-infinity controller is synthesized using the identified
uncertain Hammerstein model and a systematic performance weighting
selection process for a class of L-infinity constraints. Closed loop
performance and stability are assessed via sector bounds quantifying
the maximum allowable precompensator error. Frequency domain
conditions guaranteeing an L-2 output provided the system input
belongs to L-2 are also presented. To illustrate the procedure, the
design methodology is applied to synthesize a robust feedback
controller to regulate the mass air flow of a 4.6L V8 spark ignition
engine equipped with an electronic throttle.
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