Equivalence between Approximate Dynamic Inversion and Proportion-Integral Control
Name
TeoMITTR08.pdf
Description
PDF file
Size
142.7 KB
Format
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Checksum (MD5)
9b0e0abbef7654b4e3d955bf37afe77c
Author(s)
Teo, Justin
How, Jonathan P.
Date Issued
September 29, 2008
Series/Report no.
;ACL08-01
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.
Subjects
PI Control
Proportional-Integral Control
Feedback Linearization
Dynamic Inversion
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