Book ChapterDOI
Zero Dynamics and Tracking Performance Limits in Nonlinear Feedback Systems
A. Pedro Aguiar,Jo˜ao P. Hespanha,Petar V. Kokotovic +2 more
- pp 149-159
TLDR
This work investigates and quantifies the limit to tracking performance posed by unstable zero dynamics and some aspects of this limit are nonlinear analogs of Bode's T-integral formula.Abstract:
Summary. Among Alberto Isidori’s many seminal contributions, his solution of the nonlinear tracking problem and the underlying concept of zero dynamics have had the widest and strongest impact. Here we use these results to investigate and quantify the limit to tracking performance posed by unstable zero dynamics. While some aspects of this limit are nonlinear analogs of Bode’s T-integral formula, the dependence on the exosystem dynamics is an added complexity of nonlinear tracking.read more
Citations
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Journal ArticleDOI
Modified non-linear damping of internal dynamics via feedback linearisation for static synchronous compensator
TL;DR: In this article, a modified non-linear damping controller is proposed to improve the stability of internal dynamics at every operating point for some system parameters, and the damping term with a variable gain is added to the input-output linearization.
Proceedings ArticleDOI
Single and multiple motion control of autonomous robotic vehicles
TL;DR: A brief survey related to two topics in this area: i) the design of control systems to drive a vehicle to track a time-parameterized trajectory (trajectory tracking), or to follow a geometric path (path-following); and ii) the problem of making a group of autonomous robotic vehicles follow desired geometric paths while keeping a specified formation pattern (cooperative path- following).
References
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Book
Nonlinear Control Systems
Alberto Isidori,M. Thoma,Eduardo D. Sontag,B. W. Dickinson,A. Fettweis,J. L. Massey,J. W. Modestino +6 more
TL;DR: In this paper, a systematic feedback design theory for solving the problems of asymptotic tracking and disturbance rejection for linear distributed parameter systems is presented, which is intended to support the development of flight controllers for increasing the high angle of attack or high agility capabilities of existing and future generations of aircraft.
Book
Nonlinear and adaptive control design
TL;DR: In this paper, the focus is on adaptive nonlinear control results introduced with the new recursive design methodology -adaptive backstepping, and basic tools for nonadaptive BackStepping design with state and output feedbacks.
Journal ArticleDOI
Paper: The internal model principle of control theory
B. A. Francis,W. M. Wonham +1 more
TL;DR: The Internal Model Principle is extended to weakly nonlinear systems subjected to step disturbances and reference signals and is shown that, in the frequency domain, the purpose of the internal model is to supply closed loop transmission zeros which cancel the unstable poles of the disturbance andreference signals.
Book
Nonlinear Control Systems: An Introduction
TL;DR: This chapter discusses the development of Geometric Theory of State Feedback for Multi-Input Multi-Output Systems and its applications in control systems.
Related Papers (5)
Brief Mixed internal model-based and feedforward control for robust tracking in nonlinear systems
Lorenzo Marconi,Alberto Isidori +1 more