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2 Control and Cybernetics

2 2007

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Tracking and disturbance rejection in a nonlinear control system with time delay

Chien T.-L., Chen C.-C., Wu C.-J., Huang Y.-C., Chen C.-Y.

Control and Cybernetics

2007

Vol. 36, no 1

59-74

We consider the problem of designing a feedback control law in order to reject the unknown bounded disturbance and achieve tracking of reference inputs in control systems described by a class of nonlinear time-delay differential-algebraic equations. Based on the input-output feedback linearization technique and Lya-pimov method for nonlinear state feedback synthesis, a robust globally asymptotical output tracking controller design methodology for nonlinear time-delay control systems with delays on the states and the input is developed. The underlying theoretical approaches are the differential geometry approach and the composite Lyapunov approach. For the view of practical application, the proposed control methodology has been successfully applied to the famous nonlinear automobile idle-speed control system problem.

An application of feedback linearization to the tracking and almost disturbance decoupling control of nonlinear system with uncertainties

Chen C.-C., Huang Y.-C, Lin W.-J., Shen D.-C., Huang L.-A.

Control and Cybernetics

2007

Vol. 36, no 2

385-403

This paper studies the tracking and almost disturbance decoupling problem of nonlinear systems with uncertainties, based on the feedback linearization approach. The main contribution of this study is to construct a controller, under appropriate conditions, such that the resulting closed-loop system is valid for any initial condition and bounded tracking signal with the following characteristics: input-to-state stability with respect to disturbance inputs and almost disturbance decoupling, i.e., the influence of disturbances on the L2 norm of the output tracking error can be arbitrarily attenuated by changing some adjustable parameters. Two examples, which cannot be solved by the first paper on the almost disturbance decoupling problem, are proposed in this paper to exploit the fact that the tracking and the almost disturbance decoupling performances are easily achieved by the proposed approach. In order to demonstrate the practical applicability, the paper has investigated the AMIRA ball and beam system.