2017/04/17 by Roshan A. Chavan, Sujay D. Kadam, Chavan, Roshan A. +6
Engineering · #Adaptive Control of Nonlinear Systems #Stability and Control of Uncertain Systems #Advanced Control Systems Optimization
paper · pdf · doi:10.48550/arxiv.1704.04900
The idea of posing a command following or tracking control problem as an\ninput reconstruction problem is explored in the paper. For a class of square\nMIMO systems with known dynamics, by pretending that reference commands are\nactual outputs of the system, input reconstruction methods can be used to\ndetermine control action that will result in a system following desired\nreference commands. A feedback controller which is a combination of an unbiased\nstate estimator and an input reconstructor that ensures unbiased tracking of\nreference commands is proposed. Simulations and real-time implementation are\npresented to demonstrate utility of the proposed idea. Conditions under which\nproposed controller may be used for non-square systems are also discussed.\n