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Internal-Model-Based Control of Nonlinear Systems
INTERNAL-MODEL-BASED CONTROL OF NON LINEAR SYSTEMS By Prof. Alberto Isidori Dipartimento di Informatica e Sistemistica, Universita di Roma La Sapienza, Italy
The problem of having the output of a system to asymptotically track prescribed trajectories and/or to asymptotically reject undesired disturbances, in the presence of possibly large model uncertainties, is ubiquitous in control theory. Internal-model-based control schemes efficiently address the problem oftrackinglrejecting fixed families of exogenous inputs, all those which can be thought of as generated by some autonomous finite-dimensional dynamical system. The remarkable features of internal-model based control schemes for linear systems have recently been extended to relevant classes of nonlinear systems, which include certainproblems arising in the autonomous guidance of air vehicles. In these cases, the challenge is to design robust stabilization schemes able to cope with large uncertainties in the model of the controlled plant as well as in the model of the exogenous inputs to be tracked/rejected. The techniques needed in this design consist of a blend of newly developed methods for robust stabilization of nonlinear systems and of some basic concepts and techniques in adaptive control, the latter to autonomously tune the parameters of the internal model. This lecture reviews the most recent advances in this area and outlines its potential interest in aero-space control.
PLENARY SESSIONS
3
The problem of having the output of a system to asymptotically track prescribed trajectories and/or to asymptotically reject undesired disturbances, in the presence of possibly large model uncertainties, is ubiquitous in control theory. Internal-model-based control schemes efficiently address the problem oftrackinglrejecting fixed families of exogenous inputs, all those which can be thought of as generated by some autonomous finite-dimensional dynamical system. The remarkable features of internal-model based control schemes for linear systems have recently been extended to relevant classes of nonlinear systems, which include certainproblems arising in the autonomous guidance of air vehicles. In these cases, the challenge is to design robust stabilization schemes able to cope with large uncertainties in the model of the controlled plant as well as in the model of the exogenous inputs to be tracked/rejected. The techniques needed in this design consist of a blend of newly developed methods for robust stabilization of nonlinear systems and of some basic concepts and techniques in adaptive control, the latter to autonomously tune the parameters of the internal model. This lecture reviews the most recent advances in this area and outlines its potential interest in aero-space control.
PLENARY SESSIONS
3