This paper examines the control of Single-Input, Single-Output Feedback Linearizable nonlinear systems that are either (i) subject to periodic disturbances or (ii) tracking periodic reference trajectories. The key concept is the straightforward combination of well known Differential Geometric techniques with the Internal Model Principle resulting in a nonlinear repetitive control strategy. A formulation is presented for the case of Input-State Linearizable and Input-Output Linearizable systems in continuous time. The potential benefits of the nonlinear repetitive controller are given. It is shown that while the standard nonlinear control techniques can be made robust to known disturbances, the nonlinear repetitive technique has desirable characteristics in that it does not require knowledge of the disturbance magnitude and does not need an increased loop gain to accomplish robustness. The procedure is applied to a numerical simulation example with the resulting benefits being clearly shown.
|Original language||English (US)|
|Title of host publication||Dynamic Systems and Control|
|Publisher||American Society of Mechanical Engineers (ASME)|
|Number of pages||8|
|State||Published - 1997|
|Event||Proceedings of the 1997 ASME International Mechanical Engineering Congress and Exposition - Dallas, TX, USA|
Duration: Nov 16 1997 → Nov 21 1997
|Name||ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE)|
|Other||Proceedings of the 1997 ASME International Mechanical Engineering Congress and Exposition|
|City||Dallas, TX, USA|
|Period||11/16/97 → 11/21/97|
Bibliographical notePublisher Copyright:
© 1997 American Society of Mechanical Engineers (ASME). All rights reserved.