Design of adaptive disturbance accommodating controller with Matlab and Simulink

We apply the disturbance accommodating control theory to a class of nonlinear systems described by a set of generalized coordinate system equation normally encountered in dynamic systems. The technique described is performed in two steps in real-time. First, we linearize the plant about the given set point. Next, we compute the control law for the corresponding linear system. Since the linear model is valid only in the vicinity of the operating point, the control law is recomputed each time a new set point is specified. Therefore, the control law parameters stay constant until a new set point is commanded. The nonlinear system is modeled in Simulink while all gain scheduling is performed in Matlab. The methodology is well suited for digital control of high order nonlinear systems where the set point stays constant for a long period of time. A 2-DOF robot is used to illustrate the concept