Feedforward Control Design for Finite-Time Transition Problems of Nonlinear Systems With Input and Output Constraints

Abstract

III Vorwort

Modeling and exact feed forward control of air and burned gas fraction within SI engine cylinders

“…by a trajectory-planing algorithm. [7] In case of air charge control the requested masses change permanently. Instead of deriving a smooth function often (linear) filters are used.…”

“…completes the system of ordinary differential equations (6), (7) and (12) that describes the partial pressures of air and burned gas inside the intake manifold as well as the temperature of these gases. The absolute masses derive from the ideal gas law (1): the enthalpy flows are defined as:…”

Control design for a bionic kangaroo

“…6. The trajectory planning for the flight phase is based on a nonlinear flight phase model and a feedforward control (Devasia, Chen, & Paden, 1996;Graichen, 2006) for the hip and tail actuation. In addition, an optimal state feedback controller is designed to stabilize the kangaroo along the flight trajectory.…”

A new Saturation function to convert an output constraint into an input constraint

“…As we will see our method can still be applied when some disturbances are applied to the nonlinear system and does not require to discretize the system but contrary to the linear case it can be slightly conservative. By comparison to existing results based on nonlinear model predictive control [5], [9], [7], [10] (to cite a few), our method does not use prediction and can thus be easily implemented ; however, it is fair to say that we do not address several output constraints problems (where the number of inputs is inferior to the number of constrained outputs) in this preliminary work. Other possible and very useful methods [8], [11], [12] address output constraints problems for nonlinear systems of special form and/or try to escape the constraints while L. Burlion is with Onera -The French Aerospace Lab, F-31055 Toulouse, France.…”