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Equivalence between Approximate Dynamic Inversion and Proportion-Integral Control

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dc.contributor.author Teo, Justin
dc.contributor.author How, Jonathan P.
dc.date.accessioned 2008-09-29T14:05:49Z
dc.date.available 2008-09-29T14:05:49Z
dc.date.issued 2008-09-29T14:05:49Z
dc.identifier.uri http://hdl.handle.net/1721.1/42839
dc.description.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. en
dc.description.sponsorship DSO National Laboratories (Singapore), AFOSR grant FA9550-08-1-0086. en
dc.language.iso en_US en
dc.relation.ispartofseries ;ACL08-01
dc.subject PI Control en
dc.subject Proportional-Integral Control en
dc.subject Feedback Linearization en
dc.subject Dynamic Inversion en
dc.title Equivalence between Approximate Dynamic Inversion and Proportion-Integral Control en
dc.type Technical Report en


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