内積条件と正実条件を座緩和した非線形モデル追従形制御系の一設計法

抄録

A design method of nonlinear model following control system, which guaranteed bounded internal states, was proposed by Okubo^{(1), (2)} for a family of plants with separable linear and nonlinear parts, but the requirement of positive real (PR) and inner product conditions for nonlinear part limited the method's application. This paper presents a new approach to Okubo's method by extending state feedback for linear system to nonlinear system, and relaxes the requirement of PR and inner product conditions for nonlinear part greatly. Using nonlinear state feedback, many plants which do not satisfy the inner product condition superficially can be modified to satisfy the inner product condition, thus can be dealt with by Okubo's method. Further, a nonsingular matrix R is brought in successfully to eliminate the requirement of PR condition. Genetic Algorithm is used to create nonlinear state feedback vector, and results the approach suits a family of nonlinear plants which can be expressed in Kronecker vector with any highest degree definitely. A compacted vector is used to benefit the design of control system. This paper presents the related proofs and simulations.