Model reference control in quasi-linear systems with a parametric feed-forward compensator and state-feedback stabilization controller

Abstract

In this paper, a parametric feed-forward compensator and a parametric state-feedback stabilization controller are proposed for the model reference control to a class of quasi-linear systems. Quasi-linear systems are a special type of nonlinear systems whose coefficient matrices contain the state variables and also a time-varying parameter vector. The parametric state-feedback stabilization controller guarantees the stability of the closed-loop system and the parametric feed-forward compensator compensates the effect of the reference model state to the tracking error. The complete parametrization of the parametric feed-forward compensator is established based on a complete parametric solution to a class of generalized Sylvester matrix equations and solution of a coefficient matrix such that two matrix equations are satisfied. The established parametric state-feedback stabilization controller only needs a complete parametric solution to the same generalized Sylvester matrix equations but with different sets of freely designed parameters that represent the degrees of design freedom and may be further utilized to improve the system performance. A linear closed-loop form with the desired eigenstructure can be derived with the proposed parametric feed-forward compensator and parametric state-feedback stabilization controller, and a constant linear can even be obtained in certain cases. A numerical example and the application in spacecraft rendezvous are provided to illustrate the effectiveness of the proposed approach.