A Model Analysis for Embedded Control of Known Continuous-Time Scalar Nonlinear Systems

A model operation for embedded control of known affine scalar continuous-time nonlinear systems is analyzed. The model is described by algebraic equation with variable structure. Sliding modes of the controlled system states based on the model are analyzed. Conditions for correct functioning of the controlled system using the model in the presence of disturbances of its nonlinearities are derived. The model does not require any training procedure and is of moderate complexity. Applications of the model to the control of non-holonomic system and to the control of permanent-magnet linear motor used for precise repetitive positioning are simulated.