Feng, W., O'Reilly, J. and Ballance, D.J. (2002) MIMO nonlinear PID predictive controller. IEEP: Control Theory Applications, 149(3), pp. 203-208.
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IEEE_Proc._Contr.Th_&_Ap149(3)203.pdf 516kB |
Publisher's URL: http://ieeexplore.ieee.org/xpl/tocresult.jsp?isNumber=21823&puNumber=2193
Abstract
A class of nonlinear generalised predictive controllers (NGPC) is derived for multi-input multi-output (MIMO) nonlinear systems with offset or steady-state response error. The MIMO composite controller consists of an optimal NGPC and a nonlinear disturbance observer. The design of the nonlinear disturbance observer to estimate the offset is particularly simple, as is the associated proof of overall nonlinear closed-loop system stability. Moreover, the transient error response of the disturbance observer can be arbitrarily specified by simple design parameters. Very satisfactory performance of the proposed MIMO nonlinear predictive controller is demonstrated for a three-link nonlinear robotic manipulator example.
Item Type: | Articles |
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Status: | Published |
Refereed: | Yes |
Glasgow Author(s) Enlighten ID: | O'Reilly, Professor John and Ballance, Dr Donald |
Authors: | Feng, W., O'Reilly, J., and Ballance, D.J. |
Subjects: | T Technology > TP Chemical technology T Technology > TK Electrical engineering. Electronics Nuclear engineering |
College/School: | College of Science and Engineering > School of Engineering > Systems Power and Energy |
Journal Name: | IEEP: Control Theory Applications |
Publisher: | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
ISSN: | 1350-2379 |
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