Equivalence Between Approximate Dynamic Inversion and Proportional-Integral Control

Abstract

Approximate Dynamic Inversion (ADI) has been established as a method to control minimum-phase, nonaffine-incontrol systems. Previous results have shown that for single-input nonaffine-in-control systems, every ADI controller admits a linear Proportional-Integral (PI) realization that is largely independent of the nonlinear function that defines the system. In this report, we first present an extension of the ADI method for single-input nonaffine-in-control systems that renders the closed-loop error dynamics independent of the reference model dynamics. The equivalent PI controller will be derived and both of these results are then extended to multi-input nonaffine-in-control systems.

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Document Details

Document Type
Technical Report
Publication Date
Sep 29, 2008
Accession Number
ADA495936

Entities

People

  • Jonathan How
  • Justin Teo

Organizations

  • Massachusetts Institute of Technology

Tags

DTIC Thesaurus Topics

  • Autonomous Systems
  • Boundary Layer
  • Closed Loop Systems
  • Control Systems
  • Dynamics
  • Equations
  • High Gain
  • Information Operations
  • Integrals
  • Inversion
  • Mathematics
  • Nonlinear Systems
  • Perturbation Theory
  • Specifications
  • Steady State
  • Theorems

Readers

  • Adaptive Control and Estimation with Uncertainty in Dynamic Systems.
  • Calculus or Mathematical Analysis
  • Robotics and Automation.