Robust Controller Design for Nonlinear Systems

다국어 초록 (Multilingual Abstract)

In this paper, we proposed the robust output tracking control scheme for a class of MIMO nonlinear dynamical systems using output feedback linearization method. Because the states of zero dynamics are not accessible, we consider these states as bounded uncertainties(or disturbances) under the assumption that zero dynamics is stable(or nonlinear minimum phase) and also we have no priori knowledge concerning the magnitude of these uncertainties. A second order sliding mode control method is used to establish the desired output tracking controller. It is shown that the outputs of the closed-loop system asymptotically track given output trajectories despite the uncertainties while maintaining the boundedness of all signals inside the loop. From the computer simulation results for the numerical example, we prove the validity of the proposed control algorithm.

참고문헌 (Reference)

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