Equivalence between Approximate Dynamic Inversion and Proportion-Integral Control
Approximate Dynamic Inversion (ADI) has been established as a method to control minimum-phase, nonaffine-in-control systems. Previous results have shown that for single-input nonaffine-in-control systems, every ADI controller admits a linear Proportional-Integral (PI) realization that is largely ind...
| Main Authors: | , |
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| Format: | Technical Report |
| Language: | en_US |
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2008
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| Online Access: | http://hdl.handle.net/1721.1/42839 |
| _version_ | 1826205770866229248 |
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| author | Teo, Justin How, Jonathan P. |
| author_facet | Teo, Justin How, Jonathan P. |
| author_sort | Teo, Justin |
| collection | MIT |
| description | Approximate Dynamic Inversion (ADI) has been established as a method to control minimum-phase, nonaffine-in-control systems. Previous results have shown that for single-input nonaffine-in-control systems, every ADI controller admits a linear Proportional-Integral (PI) realization that is largely independent of the nonlinear function that defines the system. In this report, we first present an extension of the ADI method for single-input nonaffine-in-control systems that renders the closed-loop error dynamics independent of the reference model dynamics. The equivalent PI controller will be derived and both of these results are then extended to multi-input nonaffine-in-control systems. |
| first_indexed | 2024-09-23T13:18:49Z |
| format | Technical Report |
| id | mit-1721.1/42839 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T13:18:49Z |
| publishDate | 2008 |
| record_format | dspace |
| spelling | mit-1721.1/428392019-04-11T01:18:54Z Equivalence between Approximate Dynamic Inversion and Proportion-Integral Control Teo, Justin How, Jonathan P. PI Control Proportional-Integral Control Feedback Linearization Dynamic Inversion Approximate Dynamic Inversion (ADI) has been established as a method to control minimum-phase, nonaffine-in-control systems. Previous results have shown that for single-input nonaffine-in-control systems, every ADI controller admits a linear Proportional-Integral (PI) realization that is largely independent of the nonlinear function that defines the system. In this report, we first present an extension of the ADI method for single-input nonaffine-in-control systems that renders the closed-loop error dynamics independent of the reference model dynamics. The equivalent PI controller will be derived and both of these results are then extended to multi-input nonaffine-in-control systems. DSO National Laboratories (Singapore), AFOSR grant FA9550-08-1-0086. 2008-09-29T14:05:49Z 2008-09-29T14:05:49Z 2008-09-29T14:05:49Z Technical Report http://hdl.handle.net/1721.1/42839 en_US ;ACL08-01 application/pdf |
| spellingShingle | PI Control Proportional-Integral Control Feedback Linearization Dynamic Inversion Teo, Justin How, Jonathan P. Equivalence between Approximate Dynamic Inversion and Proportion-Integral Control |
| title | Equivalence between Approximate Dynamic Inversion and Proportion-Integral Control |
| title_full | Equivalence between Approximate Dynamic Inversion and Proportion-Integral Control |
| title_fullStr | Equivalence between Approximate Dynamic Inversion and Proportion-Integral Control |
| title_full_unstemmed | Equivalence between Approximate Dynamic Inversion and Proportion-Integral Control |
| title_short | Equivalence between Approximate Dynamic Inversion and Proportion-Integral Control |
| title_sort | equivalence between approximate dynamic inversion and proportion integral control |
| topic | PI Control Proportional-Integral Control Feedback Linearization Dynamic Inversion |
| url | http://hdl.handle.net/1721.1/42839 |
| work_keys_str_mv | AT teojustin equivalencebetweenapproximatedynamicinversionandproportionintegralcontrol AT howjonathanp equivalencebetweenapproximatedynamicinversionandproportionintegralcontrol |