Title :
A robust internal model controller for nonlinear systems
Author :
Zazueta, Salvador ; Alvarez, Joaquin
Author_Institution :
Nat. Inst. of Astron., UNAM, Ensenada, Mexico
Abstract :
A redesign of a control algorithm for nonlinear systems having the structure called internal model controller is proposed. This new controller, based on a Lyapunov stability technique, displays a better robust performance than the classical IMC structure. The controller is continuous, so it does not present chattering. Furthermore, a saturated, high gain observer is included to overcome the problem of needing full access to the plant state. Some experimental results obtained for the control of electric motors used as drivers of astronomical telescopes show the performance of the proposed control strategy.
Keywords :
DC motors; Lyapunov methods; astronomical telescopes; machine control; motion control; nonlinear control systems; robust control; Lyapunov stability technique; astronomical telescopes; continuous controller; electric motors; nonlinear systems; robust internal model controller; robust performance; saturated high gain observer; Astronomy; Control system synthesis; Control systems; Filters; Nonlinear control systems; Nonlinear systems; Robust control; Robust stability; Telescopes; Uncertain systems;
Conference_Titel :
American Control Conference, 2002. Proceedings of the 2002
Print_ISBN :
0-7803-7298-0
DOI :
10.1109/ACC.2002.1024866
