非線形系のalmostモデル追従制御

抄録

In this paper, a model following control problem (NMFCP, for short) for nonlinear MIMO systems is studied. Isurugi and Shima has already given the solution of this problem under some regularity assumptions. The result can be stated as follows: NMFCP is solvable iff the relative order of the plant is not greater than that of the model. We consider the case where this condition is not satisfied. In this case, although any feedback law cannot cansel the influence of the inputs of the model on the error, the high-gain feedback based on the singular perturbation theory is available. It is shown that, by using the high-gain feedback with some small positive parameter ε, the error will remain o(ε). Finally, the efficiency of the proposed control law is illustrated by a numerical simulation.