Article: The design of H∞ control methodology for non-linear systems to guarantee the tracking behaviour in the sense of input–output spheres Journal: International Journal of Intelligent Systems Technologies and Applications (IJISTA) 2010 Vol.9 No.1 pp.34 - 48 Abstract: A general non-linear system usually contains some uncertainties, such as plant parameter variations and uncertain inputs, which may make desired system performance hard to be achieved or even cause the closed-loop system unstable. An H∞ control design methodology based on the tracking behaviour in the sense of input–output spheres is proposed in this study to ensure that the system output is bounded in the desired output sphere while an uncertain input, which is described in an input sphere, is applied to the system. The loop-shaping technique is applied in the proposed design procedure to guarantee the system robustness against disturbances and uncertainties. To attest the feasibility of the proposed methodology, a non-linear inverted pendulum is then studied. The computer simulation results reveal that the proposed methodology can achieve the desired performance with good tracking behaviour in the sense of input–output spheres by effectively rejecting the disturbances and uncertainties of this system. Inderscience Publishers - linking academia, business and industry through research

Title: The design of H_∞ control methodology for non-linear systems to guarantee the tracking behaviour in the sense of input–output spheres

Authors: Cheng-Neng Hwang, Shun-Min Wang, Chung-Tao Chang

Addresses: Department of Systems and Naval Mechatronic Engineering, National Cheng Kung University, No. 1, University Road, Tainan City 701, Taiwan. ' Department of Systems and Naval Mechatronic Engineering, National Cheng Kung University, No. 1, University Road, Tainan City 701, Taiwan. ' Department of Systems and Naval Mechatronic Engineering, National Cheng Kung University, No. 1, University Road, Tainan City 701, Taiwan

Abstract: A general non-linear system usually contains some uncertainties, such as plant parameter variations and uncertain inputs, which may make desired system performance hard to be achieved or even cause the closed-loop system unstable. An H_∞ control design methodology based on the tracking behaviour in the sense of input–output spheres is proposed in this study to ensure that the system output is bounded in the desired output sphere while an uncertain input, which is described in an input sphere, is applied to the system. The loop-shaping technique is applied in the proposed design procedure to guarantee the system robustness against disturbances and uncertainties. To attest the feasibility of the proposed methodology, a non-linear inverted pendulum is then studied. The computer simulation results reveal that the proposed methodology can achieve the desired performance with good tracking behaviour in the sense of input–output spheres by effectively rejecting the disturbances and uncertainties of this system.

Keywords: H-infinity; loop shaping; nonlinear systems; spheres; control design; robustness; disturbances; uncertainties; inverted pendulum; simulation; tracking behaviour.

DOI: 10.1504/IJISTA.2010.033895

International Journal of Intelligent Systems Technologies and Applications, 2010 Vol.9 No.1, pp.34 - 48

Published online: 03 Jul 2010 *

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Title: The design of H∞ control methodology for non-linear systems to guarantee the tracking behaviour in the sense of input–output spheres

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Title: The design of H_∞ control methodology for non-linear systems to guarantee the tracking behaviour in the sense of input–output spheres