Optimal robust control of nonlinear systems: inter-sample optimisation in sampled-data control

A methodology is presented for the design and implementation of robust controllers that optimise inter-sample performance for a broad range of nonlinear systems operated within a sampled-data environment. The methodology applies to nonlinear continuous-time systems described by state equations, and...

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Bibliographic Details
Published in:	International journal of control Vol. 97; no. 10; pp. 2213 - 2232
Main Author:	Hammer, Jacob
Format:	Journal Article
Language:	English
Published:	Abingdon Taylor & Francis 02-10-2024 Taylor & Francis Ltd
Subjects:	Constraint modelling Continuous time systems Control systems Design optimization Equations of state Feedback control Nonlinear control nonlinear state feedback Nonlinear systems optimal control Robust control sampled data control State feedback Tracking errors
Online Access:	Get full text
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Summary:	A methodology is presented for the design and implementation of robust controllers that optimise inter-sample performance for a broad range of nonlinear systems operated within a sampled-data environment. The methodology applies to nonlinear continuous-time systems described by state equations, and it allows for modelling uncertainties and constraints on maximal control effort. It is shown that there exist optimal robust state-feedback controllers that minimise inter-sample tracking errors for such systems, as long as an appropriate controllability requirement is met. A relatively simple design and implementation procedure for such controllers is described.
ISSN:	0020-7179 1366-5820
DOI:	10.1080/00207179.2023.2260901