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Analysis and Control of Nonlinear Systems: A Flatness-based Approach
TLDR
In this paper, the authors focus on structural aspects and in particular on a class of systems called differentially flat, and discuss applications of this method in the fields of electric drives (DC motors and linear synchronous motors), magnetic bearings, automotive equipments, cranes, and automatic flight control systems.Abstract:
This is the first book on a hot topic in the field of control of nonlinear systems. It ranges from mathematical system theory to practical industrial control applications and addresses two fundamental questions in Systems and Control: how to plan the motion of a system and track the corresponding trajectory in presence of perturbations. It emphasizes on structural aspects and in particular on a class of systems called differentially flat. Part 1 discusses the mathematical theory and part 2 outlines applications of this method in the fields of electric drives (DC motors and linear synchronous motors), magnetic bearings, automotive equipments, cranes, and automatic flight control systems. The author offers web-based videos illustrating some dynamical aspects and case studies in simulation (Scilab and Matlab). (orig.)read more
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Model-free control
Michel Fliess,Cédric Join +1 more
TL;DR: Model-free control and the corresponding ‘intelligent’ PID controllers (iPIDs), which already had many successful concrete applications, are presented here for the first time in an unified manner, where the new advances are taken into account.
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On necessary and sufficient conditions for differential flatness
TL;DR: The notion of a strongly closed ideal of differential forms is introduced, and it is proved that flatness is equivalent to the strong closedness of the latter ideal, which, in turn, is equivalents to the existence of solutions of the so-called generalized moving frame structure equations.
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Robust Adaptive Controller for a Tractor–Trailer Mobile Robot
TL;DR: In this article, a robust adaptive feedback linearizing dynamic controller (RAFLDC) is proposed to control the system using estimated upper-bounds of uncertainties, and the stability of the control algorithm is verified using the Lyapunov method.
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Linear active disturbance rejection control of underactuated systems: the case of the Furuta pendulum
TL;DR: An Active Disturbance Rejection Control (ADRC) scheme is proposed for a trajectory tracking problem defined on a nonfeedback linearizable Furuta Pendulum example, where fast horizontal arm tracking maneuvers driving the pendulum substantially away from the initial equilibrium point are triggered.
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Robust Nonlinear Adaptive Control of a “Boost” Converter via Algebraic Parameter Identification
TL;DR: In this article, a robust nonlinear adaptive controller for trajectory tracking maneuvers of the nonminimum phase output voltage on a dc-to-dc "boost" power converter with uncertain time-varying parameters is presented.