Abstract
It is frequently necessary to control processes with ‘hard’ nonlinearities, such as friction, backlash, and saturation, or with state-variable constraints, such as physical limit stops or regions in state space into which the system should not venture. Design of control systems for such processes has eluded treatment by some of the currently popular methods, such as feedback linearization, that require differentiable (‘smooth’) nonlinearities. The recently-developed state-dependent algebraic Riccati equation (SDARE) method, also known as extended linearization, however, does not suffer from this limitation and may be useful for design of control systems that are not amenable to design by other methods.
This chapter reviews the SDARE method and discusses modeling issues related to the application of the method. The application of the method is demonstrated in processes with friction, backlash, and state-variable constraints. Performance is evaluated by simulation.
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© 2001 Springer-Verlag London
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Friedland, B. (2001). On Feedback Control of Processes with ‘Hard’ Nonlinearities. In: Tao, G., Lewis, F.L. (eds) Adaptive Control of Nonsmooth Dynamic Systems. Springer, London. https://doi.org/10.1007/978-1-4471-3687-3_7
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DOI: https://doi.org/10.1007/978-1-4471-3687-3_7
Publisher Name: Springer, London
Print ISBN: 978-1-84996-869-0
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