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Johann Holl, Kurt Schlacher
On the Discrete-time Implementation of Nonlinear Control Laws
Keywords: nonlinear dynamic systems, discrete-time control, exact linearization, passivity-based control, flatness-based control
Based on well-known design methods of nonlinear control theory an approach of model-based discrete-time control is presented for the class of continuous-time dynamic systems. The calculation of the input sequence is arranged by the demand that the trajectories of the considered dynamic system and those of the closed loop system, which is obtained by continuous-time control, coincide at discrete time steps. The flow of the nonlinear continuous-time system, required for the presented approach, is approximated on the interval of two successive discrete time steps by a Lie series or numerical integration. In this contribution particularly the methods of exact linearization, control laws based on differential flatness, and a passivity-based control design approach are investigated with regard to their discrete-time implementation. It is also indicated that for the concept of trajectory tracking no replanning of the desired trajectory is necessary. Finally, the proposed method is illustrated by means of the control of a continuously variable transmission.
at – Automatisierungstechnik, Oldenbourg Wissenschaftsverlag
Print ISSN: 0178-2312
Volume: 54, 04/2006
Pages: 178 - 186