TY - GEN
T1 - On the Robust Flat-Filtering Control of MIMO nonlinear systems
T2 - 2018 Annual American Control Conference, ACC 2018
AU - Zurita-Bustamante, E. W.
AU - Luviano-Juárez, A.
AU - Sira-Ramírez, H.
N1 - Publisher Copyright:
© 2018 AACC.
PY - 2018/8/9
Y1 - 2018/8/9
N2 - This paper presents a linear, decoupled, robust output trajectory tracking controller, addressed as flat filtering controller (FFC), for a multiple input multiple output (MIMO) nonlinear differentialy flat systems. The flat filter only requires the outputs to be regulated with the help of a well tuned filter and a suitable linear combinations of the internal states of such filter. To illustrate the proposal, the Permanent Magnet Synchronous Motor (PMSM), which is a flat MIMO system with the angular position and the id current as flat outputs, is considered. Although the control inputs are coupled, the controller is designed on the basis of a drastic simplification to a first and third order pure integration systems respectively with additive disturbances to be compensated. The robustness of the proposed scheme, with respect to ignored nonlinear state-dependent, endogenous, disturbances and, also, to independent unstructured exogenous disturbances, is verified via computer simulations as well as experimental results.
AB - This paper presents a linear, decoupled, robust output trajectory tracking controller, addressed as flat filtering controller (FFC), for a multiple input multiple output (MIMO) nonlinear differentialy flat systems. The flat filter only requires the outputs to be regulated with the help of a well tuned filter and a suitable linear combinations of the internal states of such filter. To illustrate the proposal, the Permanent Magnet Synchronous Motor (PMSM), which is a flat MIMO system with the angular position and the id current as flat outputs, is considered. Although the control inputs are coupled, the controller is designed on the basis of a drastic simplification to a first and third order pure integration systems respectively with additive disturbances to be compensated. The robustness of the proposed scheme, with respect to ignored nonlinear state-dependent, endogenous, disturbances and, also, to independent unstructured exogenous disturbances, is verified via computer simulations as well as experimental results.
UR - http://www.scopus.com/inward/record.url?scp=85052563857&partnerID=8YFLogxK
U2 - 10.23919/ACC.2018.8431316
DO - 10.23919/ACC.2018.8431316
M3 - Contribución a la conferencia
AN - SCOPUS:85052563857
SN - 9781538654286
T3 - Proceedings of the American Control Conference
SP - 6755
EP - 6760
BT - 2018 Annual American Control Conference, ACC 2018
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 27 June 2018 through 29 June 2018
ER -