Integral Controller Design for Nonlinear Systems using Inverse Optimal Control
- Research Publishinh Services
- Publication Type:
- Conference Proceeding
- Proceedings of the 10th International Conference on Control, Automation, Robotics and Vision, 2008, pp. 2154 - 2158
- Issue Date:
This paper proposes an integral controller design scheme for nonlinear systems based on optimal control and the passivity theorem in order to suppress the effect of external disturbances. The main strategy is to augment an optimal controller with a PI type controller. To guarantee the proposed controller has a desired stability margin, the passivity-based design method is introduced. Here, the inverse optimal control technique is employed to avoid the need of solving a Hamilton- Jacobi equation. An illustrative example is given to show the design procedure and the controller effectiveness.
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