A Nonlinear IMC approach using model inversion from data

Author

Canale, M. ; Novara, C. ; Signorile, M.C.

Author_Institution

Dipt. di Autom. e Inf., Politec. di Torino, Torino, Italy

fYear

2009

fDate

15-18 Dec. 2009

Firstpage

1950

Lastpage

1955

Abstract

A novel approach to Nonlinear Internal Model Control (NIMC) is introduced. The proposed control technique is based on recent results for inversion of nonlinear dynamic systems through the identification of plant model from data, using Nonlinear Set Membership methodology, and the computation of its right-inverse. Stability of the obtained NIMC structure is investigated and results are given characterizing the input-output stability properties of the proposed control scheme. Finally, such structure is used in vehicle yaw control context to show its effectiveness and test its performance.

Keywords

control system synthesis; identification; input-output stability; nonlinear control systems; set theory; vehicles; input-output stability properties; model inversion; nonlinear IMC approach; nonlinear dynamic systems; nonlinear internal model control; nonlinear set membership methodology; plant model identification; vehicle yaw control context; Context modeling; Control system synthesis; Inverse problems; Irrigation; Linear systems; Nonlinear control systems; Nonlinear systems; Stability; Vehicle dynamics; Vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 2009 held jointly with the 2009 28th Chinese Control Conference. CDC/CCC 2009. Proceedings of the 48th IEEE Conference on

Conference_Location

Shanghai

ISSN

0191-2216

Print_ISBN

978-1-4244-3871-6

Electronic_ISBN

0191-2216

Type

conf

DOI

10.1109/CDC.2009.5400849

Filename

5400849