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Robust tracking control method based on composite nonlinear feedback technique for linear systems with time-varying uncertain parameters and disturbances

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Abstract

In this paper, the composite nonlinear feedback control method is considered for robust tracking and model following of uncertain linear systems. The control law guarantees that the tracking error decreases asymptotically to zero in the presence of time varying uncertain parameters and disturbances. For performance improvement of the dynamical system, the proposed robust tracking controller consists of linear and nonlinear feedback parts without any switching element. The linear feedback law is designed to allow the closed loop system have a small damping ratio and a quick response while the nonlinear feedback law increases the damping ratio of the system as the system output approaches the output of the reference model. A new collection of different nonlinear functions used in the control law are offered to improve the reference tracking performance of the system. The proposed robust tracking controller improves the transient performance and steady state accuracy simultaneously. Finally, the simulations are provided to verify the theoretical results.

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Authors and Affiliations

  1. Intelligent Control Systems Laboratory, School of Electrical and Computer Engineering, Tarbiat Modares University, Tehran, Iran

    Saleh Mobayen & Vahid Johari Majd

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  1. Saleh Mobayen
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  2. Vahid Johari Majd
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Correspondence to Vahid Johari Majd.

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Mobayen, S., Majd, V.J. Robust tracking control method based on composite nonlinear feedback technique for linear systems with time-varying uncertain parameters and disturbances. Nonlinear Dyn 70, 171–180 (2012). https://doi.org/10.1007/s11071-012-0439-6

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  • DOI: https://doi.org/10.1007/s11071-012-0439-6

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