Data-driven controller design for nonlinear systems: a two degrees of freedom architecture
Systems and Control
2014-07-09 v1 Optimization and Control
Abstract
In this paper, the D2-IBC (Data-Driven Inversion Based Control) approach for nonlinear control is introduced and analyzed. The method does not require any a-priori knowledge of the system dynamics and relies on a two degrees of freedom scheme, with a nonlinear controller and a linear controller running in parallel. In particular, the former is devoted to stabilize the system around a trajectory of interest, whereas the latter is used to boost the closed-loop performance. The paper also presents a thorough stability and performance analysis of the closed-loop system.
Keywords
Cite
@article{arxiv.1407.2068,
title = {Data-driven controller design for nonlinear systems: a two degrees of freedom architecture},
author = {Carlo Novara and Simone Formentin},
journal= {arXiv preprint arXiv:1407.2068},
year = {2014}
}
Comments
5 pages, 3 figures, not published anywhere else yet