Two first order nonlinear controllers are introduced: partial state setting and error modulated state setting. Both controllers smoothly combine feedforward steady state predictions with integral control. In both controllers the mixing is controlled though the use of a single gain that determines how aggressively the steady state predictions are used. Steady state error bounds are presented for each controller. For error modulated state setting control steady state errors can be eliminated if the maximum expected error in the steady state predictions is known. Both controllers are demonstrated to improve the transient response of a simulated nonlinear second order variable gain plant when compared to a well tuned proportional plus integral controller.
- Dynamic Systems and Control Division
Smoothly Combining Steady State Predictions With PI Control
Hodgson, DA, Young, PM, Anderson, CW, Duff, WS, Hittle, DC, & Olsen, DB. "Smoothly Combining Steady State Predictions With PI Control." Proceedings of the ASME 2012 5th Annual Dynamic Systems and Control Conference joint with the JSME 2012 11th Motion and Vibration Conference. Volume 1: Adaptive Control; Advanced Vehicle Propulsion Systems; Aerospace Systems; Autonomous Systems; Battery Modeling; Biochemical Systems; Control Over Networks; Control Systems Design; Cooperative and Decentralized Control; Dynamic System Modeling; Dynamical Modeling and Diagnostics in Biomedical Systems; Dynamics and Control in Medicine and Biology; Estimation and Fault Detection; Estimation and Fault Detection for Vehicle Applications; Fluid Power Systems; Human Assistive Systems and Wearable Robots; Human-in-the-Loop Systems; Intelligent Transportation Systems; Learning Control. Fort Lauderdale, Florida, USA. October 17–19, 2012. pp. 403-411. ASME. https://doi.org/10.1115/DSCC2012-MOVIC2012-8564
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