A nonlinear IMC approach to vehicle yaw control

The use of a novel approach to nonlinear internal model control (NIMC) is investigated in vehicle yaw control context. The proposed control technique is based on recent results for the inversion of nonlinear dynamical systems from data in a Set Membership (SM) environment. Such inverse model is the basic element of the NIMC controller which contains also a nonlinear model of the vehicle dynamics identified via SM methodologies directly from data. Performance of the introduced control scheme is tested through simulation results obtained using a nonlinear model of the vehicle.