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2008
IEEE

Equivalence between Approximate Dynamic Inversion and Proportional-Integral control

10 years 7 months ago
Equivalence between Approximate Dynamic Inversion and Proportional-Integral control
—Approximate Dynamic Inversion (ADI) has been established as a method to control minimum-phase, nonaffine-incontrol 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.
Justin Teo, Jonathan P. How
Added 29 May 2010
Updated 29 May 2010
Type Conference
Year 2008
Where CDC
Authors Justin Teo, Jonathan P. How
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