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arXiv · 1407.2068

Data-driven controller design for nonlinear systems: a two degrees of freedom architecture

Carlo Novara·Simone Formentin
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Abstract

In this paper, the D2-IBC (Data-Driven Inversion Based Control) approach for nonlinear control is introduced and analyzed. The method does not require any a-priori knowledge of the system dynamics and relies on a two degrees of freedom scheme, with a nonlinear controller and a linear controller running in parallel. In particular, the former is devoted to stabilize the system around a trajectory of interest, whereas the latter is used to boost the closed-loop performance. The paper also presents a thorough stability and performance analysis of the closed-loop system.

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BibTeXRIS

Carlo Novara, Simone Formentin. 2014-07-08. Data-driven controller design for nonlinear systems: a two degrees of freedom architecture. https://arxiv.org/abs/1407.2068

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