Robust output feedback regulation of minimum-phase nonlinear systems using conditional integrators

Seshagiri, Sridhar; Khalil, Hassan K.

doi:10.1016/j.automatica.2004.08.013

Cited by 90 publications

(95 citation statements)

References 12 publications

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“…In addition, the universal integral continuous sliding mode control first reported in [1] has the same problem as a PID controller because it applies the same integrator. An improved version was proposed in [7], in which the integrator is modified to provide integral action only inside the boundary layer and the derivative of the error is introduced into the integrator. All these integrators, except for the one proposed in [7], were designed by using the error as the indispensable element.…”

Section: Classical Integral Controlmentioning

confidence: 99%

“…An improved version was proposed in [7], in which the integrator is modified to provide integral action only inside the boundary layer and the derivative of the error is introduced into the integrator. All these integrators, except for the one proposed in [7], were designed by using the error as the indispensable element. So, all of them is called classical integral control.…”

Section: Classical Integral Controlmentioning

confidence: 99%

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General Convex Integral Control

Liu¹,

Luo²,

Li³

2014

Int. J. Autom. Comput.

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Abstract:In this paper, a fire-new general integral control, named general convex integral control, is proposed. It is derived by defining a nonlinear function set to form the integral control action and educe a new convex function gain integrator, introducing the partial derivative of Lyapunov function into the integrator and resorting to a general strategy to transform ordinary control into general integral control. By using Lyapunov method along with the LaSalle s invariance principle, the theorem to ensure regionally as well as semi-globally asymptotic stability is established only by some bounded information. Moreover, the lemma to ensure the integrator output to be bounded in the time domain is proposed. The highlight point of this integral control strategy is that the integral control action seems to be infinity, but it factually is finite in the time domain. Therefore, a simple and ingenious method to design the general integral control is founded. Simulation results showed that under the normal and perturbed cases, the optimum response in the whole control domain of interest can all be achieved by a set of control gains, even under the case that the payload is changed abruptly.

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Section: Classical Integral Controlmentioning

confidence: 99%

Section: Classical Integral Controlmentioning

confidence: 99%

General Convex Integral Control

Liu¹,

Luo²,

Li³

2014

Int. J. Autom. Comput.

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“…This has the consequence of invalidating the performance index established on the assumption of linearity of the controlled system, and can give rise to various undesired (and unnecessary) effects such as multiple bouncing between minimal and maximal values of the control, and important overshoots of the regulated error variables. The so-called integrator windup phenomenon, which worsens the overshoot problem and the reduction of which still motivates various research studies Aström and Hägglund (1995), Aström and Rundqwist (1989), Hippe (2006), Hodel and Hall (2001), Peng et al (1996), Seshagiri and Khalil (2005), is also commonly presented as a consequence of control saturation combined with the integral action incorporated in the control law in order to compensate for unknown (slowly varying) additive perturbations.…”

Section: Introductionmentioning

confidence: 99%

“…• As for the latter issue, it is related to the work on anti-windup and "conditional integrators" as exemplified in Kothare et al (1994), Seshagiri and Khalil (2005). For instance, the conditional integrator proposed in Seshagiri and Khalil (2005) is adapted to our controller in the case of the first-order system.…”

Section: Introductionmentioning

confidence: 99%

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Time sub-optimal nonlinear PI and PID controllers applied to longitudinal headway car control

Hua

Samson

2011

IFAC Proceedings Volumes

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Nonlinear PI and PID controllers combining time-(sub)optimality with linear control robustness and antiwindup properties are proposed for first-order and second-order integrator systems, without assuming that the control lower-bound and upper-bound are the opposite of each other. A complementary contribution is the introduction of an integral action with anti-windup properties into the control law, under the constraint of ensuring global asymptotic stability. For illustration purposes, the proposed PID solution is applied to the longitudinal headway control of a vehicle following another vehicle.

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High‐gain observers in nonlinear feedback control

Khalil

Praly

2013

Intl J Robust & Nonlinear

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533

116

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SUMMARYIn this document, we present the main ideas and results concerning high‐gain observers and some of their applications in control. The introduction gives a brief history of the topic. Then, a motivating second‐order example is used to illustrate the key features of high‐gain observers and their use in feedback control. This is followed by a general presentation of high‐gain‐observer theory in a unified framework that accounts for modeling uncertainty, as well as measurement noise. The paper concludes by discussing the use of high‐gain observers in the robust control of minimum‐phase nonlinear systems. Copyright © 2013 John Wiley & Sons, Ltd.

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Robust output feedback regulation of minimum-phase nonlinear systems using conditional integrators

Cited by 90 publications

References 12 publications

General Convex Integral Control

General Convex Integral Control

Time sub-optimal nonlinear PI and PID controllers applied to longitudinal headway car control

High‐gain observers in nonlinear feedback control

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