An approach to design a feedback controller for nonlinear systems directly from experimental data is presented. Improving over a recently proposed technique, which employs exclusively a batch of experimental data collected in a preliminary experiment, here the control law is updated and rened during real-time operation, hence enabling an on-line learning capability. The theoretical properties of the described approach, in particular closed-loop stability and tracking accuracy, are discussed. Finally, the experimental results obtained with a water tank laboratory setup are presented.
On-line direct control design for nonlinear systems / Tanaskovic, Marko; Fagiano, Lorenzo; Novara, Carlo; Morari, Manfred. - (2015), pp. 144-149. (Intervento presentato al convegno 17th IFAC Symposium on System Identification tenutosi a Beijing, China).
On-line direct control design for nonlinear systems
NOVARA, Carlo;
2015
Abstract
An approach to design a feedback controller for nonlinear systems directly from experimental data is presented. Improving over a recently proposed technique, which employs exclusively a batch of experimental data collected in a preliminary experiment, here the control law is updated and rened during real-time operation, hence enabling an on-line learning capability. The theoretical properties of the described approach, in particular closed-loop stability and tracking accuracy, are discussed. Finally, the experimental results obtained with a water tank laboratory setup are presented.File | Dimensione | Formato | |
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DFK_online_SYSID15.pdf
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https://hdl.handle.net/11583/2625102
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