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Feedforward Control Design for Finite-Time Transition Problems of Nonlinear Systems With Input and Output Constraints

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2 Author(s)
Graichen, K. ; Complex Dynamical Syst. Group, Vienna Univ. of Technol., Vienna ; Zeitz, M.

The article extends a recently presented approach to feedforward control design for nonlinear systems to additionally account for input and output constraints. The inversion-based design treats a finite-time transition problem as a two-point boundary value problem (BVP) in the coordinates of the input-output normal form. To account for constraints on the output and its time derivatives, the input-output dynamics is replaced by a new system, which is systematically constructed by means of saturation functions. The solvability of the BVP requires a sufficient number of free parameters in an ansatz function. The resulting BVP with free parameters can be solved in a straightforward manner (e.g., with the Matlab function bvp4c). Input constraints can additionally be considered as constraints on the highest output derivative. The approach is applicable to nonlinear and nonminimum-phase systems, which is illustrated for the side-stepping of an inverted pendulum on a cart.

Published in:

Automatic Control, IEEE Transactions on  (Volume:53 ,  Issue: 5 )

Date of Publication:

June 2008

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