Design of nonlinear lag-lead compensators by extended linearization using symbolic computation techniques

  • Jesús Rodríguez-Millán
  • José Yépez
  • Bokor Jozsef
2 Theory and Methods
Part of the Lecture Notes in Computer Science book series (LNCS, volume 1333)


In this paper we report the development of NLLag-Lead, a symbolic computation tool allowing to automate the design of linear and nonlinear lead, lag and lag-lead compensators, for nth ordersingle-input single-output nonlinear dynamical control systems. The proposed nonlinear lag-lead compensators are straightforward structural nonlinear extensions of appropriate state variables representations of the linear lag-lead compensators, which for nonlinear extension purposes are represented as a cascade of an input PD like controller followed by an output first order linear dynamical system. This two-blocks decomposition transforms the design of a nonlinear extension of a lag-lead compensator into the design of a nonlinear PD controller and a nonlinear state-feedback controller. NLLag-Lead has been computationally implemented using Mathematica® as symbolic computational platform


Lag-lead compensators Jacobian and extended linearization symbolic computation Mathematica® 


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Copyright information

© Springer-Verlag Berlin Heidelberg 1997

Authors and Affiliations

  • Jesús Rodríguez-Millán
    • 1
  • José Yépez
    • 1
  • Bokor Jozsef
    • 2
  1. 1.Facultad de Ingeniería - Dept. Sistemas de ControlUniversidad de Los AndesMéridaVenezuela
  2. 2.SZTAKI, Control and Systems LaboratoryHungarian Academy of SciencesBudapestHungary

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