On approximate dynamic inversion and proportional-integral control
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How_OnApproximate.pdf
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172.59 KB
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Author(s)
Teo, Justin
How, Jonathan P.
Lavretsky, Eugene
Date Issued
July 2009
Journal
Proceedings of the 2009 American Control Conference
Publisher
Institute of Electrical and Electronics Engineers
Citation
Teo, J., J.P. How, and E. Lavretsky. “On Approximate Dynamic Inversion and Proportional-Integral control.” American Control Conference, 2009. ACC '09. 2009. 1592-1597.
Version
Original manuscript
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. This paper extends these previous results in three ways. First, we present an extension of ADI that renders the closed loop error dynamics independent of the reference model dynamics. It is then shown that the equivalence between the ADI and PI controllers only holds for the time response when applied to the exact system. Finally, key robustness properties of the two control approaches are compared using linear system techniques. These results indicate that the PI realization is preferable when accurate knowledge of the nonlinear system dynamics is not available, and that the ADI realization would be preferred if time delays are the major limitations in the system.
MIT Department
Massachusetts Institute of Technology. Department of Aeronautics and Astronautics
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Attribution-Noncommercial-Share Alike 3.0 Unported
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DOI of Published Version
http://dx.doi.org/10.1109/ACC.2009.5160598
