Output regulation of nonaffine nonlinear systems using singular perturbation theory  

作　　者：Bo MENG Yuanwei JING, Xiaoping LIU 

机构地区：[1]College of Information Science and Engineering, Northeastern University, Shenyang Liaoning 110004, China

出　　处：《控制理论与应用（英文版）》2009年第2期181-184,共4页

基　　金：supported by the National Natural Science Foundation of China (No.60274009);Specialized Research Fund for the Doctoral Program of Higher Education (No.20020145007)

摘　　要：A control synthesis method for output regulation based on singular perturbation theory combined with inverting design is considered for a class of nonaffine nonlinear systems. The resulting control signal is defined as a solution to ＂fast＂ dynamics which inverts a series error model, whose state is exponentially stable. It is shown that, under sufficient conditions being consistent with the assumptions of singular perturbation theory, this problem is solvable with （ε） tracking error if and only if a set of first-order nonlinear partial differential equations are solvable. The control law can be easily constructed and the simulations show the feasibility and effectiveness of the controller.A control synthesis method for output regulation based on singular perturbation theory combined with inverting design is considered for a class of nonaffine nonlinear systems. The resulting control signal is defined as a solution to ＂fast＂ dynamics which inverts a series error model, whose state is exponentially stable. It is shown that, under sufficient conditions being consistent with the assumptions of singular perturbation theory, this problem is solvable with （ε） tracking error if and only if a set of first-order nonlinear partial differential equations are solvable. The control law can be easily constructed and the simulations show the feasibility and effectiveness of the controller.

关 键 词：Output regulation Singular perturbation Nonaffine nonlinear system Dynamic inversion 

分 类 号：TP212.12[自动化与计算机技术—检测技术与自动化装置] TP271[自动化与计算机技术—控制科学与工程]