Nonrecursive Control Design for Nonlinear Systems: Theory and Applications

✍ Scribed by Chuanlin Zhang, Jun Yang

• Publisher: CRC Press
• Year: 2023
• Tongue: English
• Leaves: 282
• Edition: 1
• Category: Library

✦ Synopsis

Based on the authors’ recent advances, this book focuses on a class of nonlinear systems with mismatched uncertainties/disturbances and discusses their typical control problems. It aims to provide a comprehensive view of the nonrecursive control theory and application guidelines.

Various applications on the nonrecursive synthesis of complex nonlinear systems not only greatly simplify the control design process, weaken the system assumptions, and reduce the conservatism of gain selection, but also realize the essential detachment of control law design and Lyapunov function-based stability analysis. Therefore, different from the classical recursive control design methods, it is of significance to study the synthesis of nonlinear systems from the perspective of a new nonrecursive control framework.

This book discusses the following typical control problems: theoretical background, homogeneous systems theory review, nonrecursive robust control design, nonrecursive adaptive control design, nonrecursive general dynamic predictive control, disturbance estimation and attenuation, nonrecursive stability analysis, implementation theory and real-life applications to series elastic actuators, DC microgrids, and permanent magnet synchronous motor (PMSM) systems under the proposed nonrecursive synthesis framework.

This book will be a great reference for scholars and students in the field of automation and control. It will also be a useful source for control engineers and those working on anti-disturbance control, nonlinear output regulation, nonsmooth control, and other related topics.

✦ Table of Contents

Cover
Half Title
Title Page
Copyright Page
Dedication
Contents
List of Figures
List of Tables
Preface
About the Authors
Acknowledgments
Symbol Description
1. Introduction
1.1. Overview of Nonlinear System Control
1.2. Overview of Nonrecursive Control Design for Nonlinear Systems
1.3. Preliminaries
1.3.1. Introduction of nonsmooth control
1.3.2. Definitions and useful lemmas
2. Nonrecursive Robust Stabilization for Uncertain Nonlinear Systems
2.1. Problem Formulation
2.2. Motivation—A Linear Case Study
2.3. Nonrecursive Robust Stabilization—A Unified Framework
2.3.1. Global unified nonrecursive control design framework
2.3.2. Extension to non-triangular systems
2.3.3. Numerical simulation
3. Practically Oriented Finite-Time Tracking Control for Nonlinear Systems
3.1. Practically Oriented Finite-Time Control via State Feedback
3.1.1. Problem formulation
3.1.2. One-step controller construction
3.1.3. Semi-global stability analysis
3.2. Practically Oriented Finite-Time Control via Output Feedback
3.2.1. Global finite-time output feedback control
3.2.1.1. Change of coordinates
3.2.1.2. Nonsmooth observer design
3.2.1.3. Output feedback controller construction
3.2.1.4. Explicit global stability analysis
3.2.2. Semi-global finite-time output feedback control
3.2.2.1. Saturated observer design
3.2.2.2. Saturated dynamic control law design
3.2.2.3. Explicit semi-global stability analysis
3.2.2.4. Extension to practical tracking control
3.2.2.5. Numerical simulations
4. Nonrecursive Adaptive Control for Nonlinear Systems with Non-Parametrized Uncertainties
4.1. Nonrecursive C1 Adaptive Control Design
4.1.1. Problem formulation
4.1.2. System pre-treatment
4.1.3. Stabilizing control law construction
4.1.4. Explicit stability analysis
4.1.5. Extension to a linear control case
4.1.6. Extension to non-triangular nonlinear systems
4.2. Nonrecursive C0 Adaptive Stabilization via State Feedback
4.2.1. Problem formulation
4.2.2. Parameter configuration
4.2.3. Change of coordinates
4.2.4. Nonsmooth control law construction
4.2.5. Stability analysis
4.2.6. An illustrative example
4.3. Nonrecursive C0 Adaptive Stabilization via Output Feedback
4.3.1. Parameter configuration
4.3.2. Controller construction
4.3.3. Stability analysis
4.3.4. Numerical simulation
5. Nonrecursive Robust Output Regulation for Nonlinear Systems with Mismatched Disturbances
5.1. Problem Formulation
5.2. Disturbance Observer Design
5.2.1. A nonrecursive finite-time disturbance observer design
5.2.2. A practical nonrecursive disturbance observer
5.2.3. Higher-order sliding mode observer design
5.3. Robust Output Regulation—A Linear Case Study
5.3.1. System pre-treatment
5.3.2. Composite output regulation law design
5.3.3. Stability analysis
5.3.4. An illustrative example
5.4. Nonrecursive C0 Robust Output Regulation
5.4.1. Controller construction
5.4.2. Stability analysis
5.4.3. Extensions
5.4.4. Illustrative examples and numerical simulations
6. Nonrecursive Adaptive Output Regulation for Nonlinear Systems with Mismatched Disturbances
6.1. Linear Nonrecursive Adaptive Output Regulation
6.1.1. System pre-treatment
6.1.2. Controller construction
6.1.3. Stability analysis
6.1.4. Numerical simulations
6.2. Nonrecursive C0 Adaptive Output Regulation
6.2.1. Problem formulation
6.2.2. Disturbance reconstruction
6.2.3. Coordinates transformation
6.2.4. Nonsmooth dynamic tracking control law design
6.2.5. Stability analysis
6.2.6. An illustrative example and numerical simulations
7. Application to Permanent Magnet Synchronous Motor Systems
7.1. Introduction
7.2. Modeling of PMSM
7.3. Nonsmooth Robust Control for Speed Regulation of PMSM Systems
7.3.1. Controller design
7.3.2. Simulation studies
7.3.3. Experimental tests
7.4. Adaptive Control for Speed Regulation of PMSM Systems
7.4.1. Linear adaptive composite control
7.4.1.1. Controller design
7.4.1.2. Experimental tests
7.4.2. Nonsmooth adaptive composite control
7.4.2.1. Controller design
7.4.2.2. Simulation studies
7.4.2.3. Experimental tests
8. Application to Series Elastic Actuator Systems
8.1. Introduction
8.2. Modeling of SEAs
8.2.1. Parameters in experimental setup
8.3. Practically Oriented Finite-Time Control for SEA
8.3.1. Controller design
8.3.2. Experimental studies
8.4. Nonsmooth Composite Control for SEA
8.4.1. Controller design
8.4.2. Experimental studies
9. Applications to DC Microgrid Systems
9.1. Introduction of DC Microgrids
9.2. A Decentralized Composite Controller Design for DC Microgrids
9.2.1. Standardized modeling of DC microgrids
9.2.2. Decentralized composite controller design
9.2.3. Experimental tests
9.2.4. Extension to other types of converters
9.3. Finite-Time Performance Recovery and Decentralized Control for DC Microgrids
9.3.1. Large-signal modeling process
9.3.2. Composite controller construction
9.3.3. Simulation studies
9.3.4. Experimental verification
9.4. Decentralized Adaptive Controller Design
9.4.1. Pre-treatment and system modeling
9.4.2. Decentralized adaptive controller design
9.4.3. Simulation studies
9.4.4. Experimental tests
9.5. Nonsmooth Control Design for Multi-Bus DC Microgrids
9.5.1. Controller design
9.5.2. Discussions
9.5.3. Simulation studies
9.5.4. Experimental tests
9.6. Nonsmooth Adaptive Controller Design for DC Microgrids
9.6.1. Controller design
9.6.2. Experimental tests
References