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Nonlinear MIMO control systems: Nor...

Schwartz, Ben.

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Nonlinear MIMO control systems: Normal forms, L(,2) disturbance attenuation and performance bounds.

紀錄類型:	書目-語言資料,印刷品 : Monograph/item
正題名/作者:	Nonlinear MIMO control systems: Normal forms, L(,2) disturbance attenuation and performance bounds./
作者:	Schwartz, Ben.
面頁冊數:	104 p.
附註:	Directors: A. Isidori; T. J. Tarn.
Contained By:	Dissertation Abstracts International59-01B.
標題:	Engineering, System Science. -
電子資源:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=9821675
ISBN:	0591733846

Nonlinear MIMO control systems: Normal forms, L(,2) disturbance attenuation and performance bounds.
Schwartz, Ben.

Nonlinear MIMO control systems: Normal forms, L(,2) disturbance attenuation and performance bounds. - 104 p.

Directors: A. Isidori; T. J. Tarn.

Thesis (D.Sc.)--Washington University, 1997.

Nonlinear systems are molded into normal forms that facilitate controller design. For square, invertible, affine nonlinear systems, geometric conditions are fashioned guaranteeing the existence of a global change of coordinates leading to a normal form. The resulting normal form highlights the so-called zero dynamics of the system. Linear, invertible, time invariant systems can always be put in this normal form. The construction of the normal form subsumes that which results from the assumption of vector relative degree. Globally (internally) stabilizing and disturbance attenuating controllers (in the sense of the

ISBN: 0591733846Subjects--Topical Terms:

1018128
Engineering, System Science.

Nonlinear MIMO control systems: Normal forms, L(,2) disturbance attenuation and performance bounds.
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245 1 0 $a Nonlinear MIMO control systems: Normal forms, L(,2) disturbance attenuation and performance bounds.
300 $a 104 p.
500 $a Directors: A. Isidori; T. J. Tarn.
500 $a Source: Dissertation Abstracts International, Volume: 59-01, Section: B, page: 0402.
502 $a Thesis (D.Sc.)--Washington University, 1997.
520 $a Nonlinear systems are molded into normal forms that facilitate controller design. For square, invertible, affine nonlinear systems, geometric conditions are fashioned guaranteeing the existence of a global change of coordinates leading to a normal form. The resulting normal form highlights the so-called zero dynamics of the system. Linear, invertible, time invariant systems can always be put in this normal form. The construction of the normal form subsumes that which results from the assumption of vector relative degree. Globally (internally) stabilizing and disturbance attenuating controllers (in the sense of the $l \sb2$-gain) are devised for the normal form. Controller design is detailed in a recursive backstepping design recipe. The design of controllers for the whole system is shown to hinge on the ability to design controllers, achieving a similar goal, for the forced zero dynamics subsystem. In the case of linear systems the existence of a controller depends solely on the existence of a controller for the forced zero dynamics subsystem.
520 $a Systems displaying cascade-interconnected zero dynamics subsystems are then considered. Intuition is drawn from linear systems analysis in which a stable/unstable split of the zero dynamics subsystem proves insightful in controller design. For linear systems, the existence of a controller for the unstable component of the zero dynamics subsystem is not only sufficient but necessary as well. A closed-form formula is given for calculating the "optimal" $l \sb2$ performance bound--exclusively in terms of the unstable component of the zero dynamics subsystem--for invertible, linear, time-invariant systems. Analogous cascades are studied in the nonlinear case. The forced zero dynamics are viewed as the interconnection of an input-to-state stable subsystem and an input-to-state, possibly unstable but "stabilizable" subsystem. In this case the utility of examining the "unstable" component of the zero dynamics subsystem in estimating the "optimal" $l \sb2$ performance bound is discussed. Two approaches are provided for estimating the bound when the least achievable attenuation level, between disturbance and regulated output, is nonzero.
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790 1 0 $a Tarn, T. J., $e advisor
791 $a D.Sc.
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