Equivalence between Approximate Dynamic Inversion and Proportion-Integral Control
Citable URI:
http://hdl.handle.net/1721.1/42839
| Title: | Equivalence between Approximate Dynamic Inversion and Proportion-Integral Control |
| Author: | Teo, Justin; How, Jonathan P. |
| Issue Date: | 2008-09-29 |
| Abstract: | Approximate Dynamic Inversion (ADI) has been established as a method to control minimum-phase, nonaffine-in-control systems. Previous results have shown that for single-input nonaffine-in-control systems, every ADI controller admits a linear Proportional-Integral (PI) realization that is largely independent of the nonlinear function that defines the system. In this report, we first present an extension of the ADI method for single-input nonaffine-in-control systems that renders the closed-loop error dynamics independent of the reference model dynamics. The equivalent PI controller will be derived and both of these results are then extended to multi-input nonaffine-in-control systems. |
| URI: | http://hdl.handle.net/1721.1/42839 |
| Series/Report no.: | ;ACL08-01 |
| Keywords: | PI Control, Proportional-Integral Control, Feedback Linearization, Dynamic Inversion |
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Aerospace Control Laboratory: Technical Reports
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