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Robust/Optimal Control of Minimum-Phase Nolinear Systems

Thesis Info

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Author

Zaffar, Salman

Program

PhD

Institute

National University of Sciences & Technology

City

Islamabad

Province

Islamabad

Country

Pakistan

Thesis Completing Year

2018

Thesis Completion Status

Completed

Subject

Electrical Engineering

Language

English

Link

http://prr.hec.gov.pk/jspui/bitstream/123456789/12026/1/SALMAN%20ZAFFAR%20electrical%20engg%202018%20NUST%20isb%20prr.pdf

Added

2021-02-17 19:49:13

Modified

2024-03-24 20:25:49

ARI ID

1676727828126

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This thesis proposes a framework that provides suboptimal control laws for a class of minimum-phase nonlinear systems. This class includes systems whose state dynamics are an algebraic sum of their linear and nonlinear sub-dynamics. We propose a systematic method of designing a robust and optimal control law which essentially consists of two components a linear and a nonlinear. It is shown that the proposed control scheme achieves stabilization while providing suboptimality for the class of systems under consideration. Furthermore, the framework provides for a mechanism which is suitable for handling tracking and regulation problems for the class of minimum-phase nonlinear systems by using the Internal Model Principle. Astrikingfeatureoftheproposedframeworkistheflexibilityofstartingwithsynthesizing a Linear-Quadratic-Regulator for linear sub-dynamics of the system and then including a nonlinear control component that stabilizes the nonlinear sub-dynamics of the system. The flexibility offered by the proposed framework is applied firstly to a general class of linear parameter-varying and linear time-varying systems. We extend the flexibility obtained for these two systems to the class of minimum-phase nonlinear systems which are decomposable through existence of an appropriate transformation into their linear and nonlinear sub dynamics. Moreover, we also propose a simplified approach to obtain an approximate yet practical solution to the nonlinear optimal control problem by replacing the requirement of solving Hamilton-Jacobi-Bellman equations with that of the Riccati partial differential equations,andthensynthesizingthenonlinearcomponentofthecontrollawtoachieverobust and suboptimal stabilization
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