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A robust model free controller for a class of SISO nonaffine nonlinear systems: Application to an electropneumatic actuator

Boubakir Ahsene, Labiod Salim, Boudjema Fares

Archives of Control Sciences

2019

Vol. 29, No. 3

437--458

This paper presents a robust model free controller (RMFC) for a class of uncertain continuous-time single-input single-output (SISO) minimum-phase nonaffine-in-control systems. Firstly, the existence of an unknown dynamic inversion controller that can achieve control objectives is demonstrated. Afterwards, a fast approximator is designed to estimate as best as possible this dynamic inversion controller. The proposed robust model free controller is an equivalent realization of the designed fast approximator. The perturbation theory and Tikhonov’s theorem are used to analyze the stability of the overall closed-loop system. The performance of the developped controller are verified experimentally in the position control of a pneumatic actuator system.