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Knut Graichen, Michael Zeitz
Inversion-Based Feedforward Control Design under Input and Output Constraints
Keywords: nonlinear feedforward control, setpoint transition, system inversion, internal dynamics, input and output constraints
A new approach for the feedforward control design of nonlinear systems is presented with the application to finite-time setpoint transition problems under input and output constraints. The inversion-based design treats the considered transition task as a two-point boundary value problem (BVP) in the coordinates of the input/output normal form. The solvability of the BVP requires a sufficient number of free parameters in the ODE of the input-output dynamics. The BVP with free parameters can be solved in a straightforward manner, e.g. with the Matlab function bvp4c. The approach also allows to directly incorporate constraints on the input, the output, and its time derivatives within the formulation of the BVP. The feedforward control design is illustrated for the side-stepping of an inverted pendulum.
at – Automatisierungstechnik, Oldenbourg Wissenschaftsverlag
Print ISSN: 0178-2312
Volume: 54, 04/2006
Pages: 187 - 199