The data-driven inversion-based control (D2 -IBC) approach is a recently introduced control design method for uncertain nonlinear systems, relying on a two degree-of-freedom architecture, with a nonlinear controller and a linear controller running in parallel. Unlike other approaches for nonlinear control, D2 -IBC does not require an accurate modeling of the plant and is computationally efficient. In this paper, we introduce a finite-gain stability sufficient condition for the closed-loop system and prove that such a condition theoretically holds when a suitable constraint is enforced during the controller design. Finally, we compare the original and the modified methods on a benchmark simulation example, regarding control of the Duffing oscillator.

Data-Driven Inversion-Based Control of Nonlinear Systems with Guaranteed Closed-Loop Stability / Novara, Carlo; Formentin, Simone. - In: IEEE TRANSACTIONS ON AUTOMATIC CONTROL. - ISSN 0018-9286. - STAMPA. - 63:4(2018), pp. 1147-1154. [10.1109/TAC.2017.2744499]

Data-Driven Inversion-Based Control of Nonlinear Systems with Guaranteed Closed-Loop Stability

Novara, Carlo;
2018

Abstract

The data-driven inversion-based control (D2 -IBC) approach is a recently introduced control design method for uncertain nonlinear systems, relying on a two degree-of-freedom architecture, with a nonlinear controller and a linear controller running in parallel. Unlike other approaches for nonlinear control, D2 -IBC does not require an accurate modeling of the plant and is computationally efficient. In this paper, we introduce a finite-gain stability sufficient condition for the closed-loop system and prove that such a condition theoretically holds when a suitable constraint is enforced during the controller design. Finally, we compare the original and the modified methods on a benchmark simulation example, regarding control of the Duffing oscillator.
File in questo prodotto:
File Dimensione Formato  
tac_d2ibc_2018.pdf

non disponibili

Tipologia: 2a Post-print versione editoriale / Version of Record
Licenza: Non Pubblico - Accesso privato/ristretto
Dimensione 481.99 kB
Formato Adobe PDF
481.99 kB Adobe PDF   Visualizza/Apri   Richiedi una copia
Novara-Data-driven_AAM.pdf

accesso aperto

Tipologia: 2. Post-print / Author's Accepted Manuscript
Licenza: PUBBLICO - Tutti i diritti riservati
Dimensione 472.3 kB
Formato Adobe PDF
472.3 kB Adobe PDF Visualizza/Apri
Pubblicazioni consigliate

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11583/2709426
 Attenzione

Attenzione! I dati visualizzati non sono stati sottoposti a validazione da parte dell'ateneo