Robust Model Following Control for Uncertain Systems with Input Nonlinearities

Abstract

In this paper, a robust model following control law based on hyperstability theory will be derived for uncertain systems with input nonlinearities. Under the upper bound assumption for system uncertainties, it is proved that the stability of the proposed control system is insensitive to system parameter variations, unmodelled dynamical errors, and external disturbances by mathematical analyses. It also ensures that the system output can track the desired model output asymptotically and all signals in the proposed control scheme are bounded. Furthermore, some computer simulation results will be presented to illustrate the performance of the proposed robust model following control scheme.