Anti-Disturbance Compensation-Based Nonlinear Control for a Class of MIMO Uncertain Nonlinear Systems
Wameedh Riyadh Abdul-Adheem1, Ahmed Alkhayyat2, Ammar K Al Mhdawi3
1Department of Electrical Engineering, College of Engineering, University of Baghdad, Baghdad 10001, Iraq.
Abstract:
Multi-Inputs-Multi-Outputs (MIMO) systems are recognized mainly in industrial applications with both input and state couplings, and uncertainties. The essential principle to deal with such difficulties is to eliminate the input couplings, then estimate the remaining issues in real-time, followed by an elimination process from the input channels. These difficulties are resolved in this research paper, where a decentralized control scheme is suggested using an Improved Active Disturbance Rejection Control (IADRC) configuration. A theoretical analysis using a state-space eigenvalue test followed by numerical simulations on a general uncertain nonlinear highly coupled MIMO system validated the effectiveness of the proposed control scheme in controlling such MIMO systems. Time-domain comparisons with the Conventional Active Disturbance Rejection Control (CADRC)-based decentralizing control scheme are also included.
Related Concept Videos
01:26Feedback control systems
Linear feedback systems are theoretical models that simplify analysis and design. These systems operate under the principle that their output is directly proportional to their input within certain ranges. For instance, an amplifier in a control system behaves linearly as long as the input signal remains within a specific range. However, most physical systems exhibit inherent nonlinearity...
01:24BIBO stability of continuous and discrete -time systems
To determine the BIBO stability, the convolution integral is utilized when a bounded continuous-time input is applied to a Linear Time-Invariant (LTI) system....
01:07Time-Domain Interpretation of PD Control
Consider the example of control of motor torque. Initially, a positive...
01:26Linear Approximation in Frequency Domain
In contrast, nonlinear systems do not inherently possess these properties. However, for small deviations around an operating point, a nonlinear system can often be approximated as linear....
01:21Transfer Function in Control Systems
To derive the transfer function, consider a general nth-order linear time-invariant...
01:22Controller Configurations
Control-system compensation involves various configurations, most commonly series or cascade compensation, in which the controller...