Title: Tracking control and error analysis for non-linear plants using robust right coprime factorisation
Authors: Kazuki Umemoto; Mingcong Deng; Fumitoshi Matsuno
Addresses: Graduate School of Engineering, Kyoto University, Room N15, C3 Bldg. d1F, Kyotodaigakukatsura, Nishikyo-ku, Kyoto, 615-8540, Japan ' Department of Electrical and Electronic Engineering, Tokyo University of Agriculture and Technology, 2-24-16 Nakacho, Koganei, Tokyo, 184-8588, Japan ' Graduate School of Engineering, Kyoto University, Room N15, C3 Bldg. d1F, Kyotodaigakukatsura, Nishikyo-ku, Kyoto, 615-8540, Japan
Abstract: In this paper, robust non-linear tracking control problem is considered using robust right coprime factorisation. In previous studies, restrictive conditions that the controlled plant can be described by a monotone operator and an invertible operator were assumed. We propose a control system without these restrictive assumptions for plants described by operators in wider classes. Although the proposed control system does not guarantee perfect tracking, however, the upper bound of the norm of tracking error is estimated based on the generalised H.S. Black formula. The control system for a non-linear plant with uncertainty is also addressed and the upper bound of tracking error is estimated. A design algorithm for the proposed control system is shown. The effectiveness of the proposed control system is verified by numerical examples for nominal and uncertain non-linear plants.
Keywords: nonlinear control; right coprime factorisation; robust control; operator theory; tracking control; error analysis; nonlinear plants; uncertainty.
International Journal of Advanced Mechatronic Systems, 2013 Vol.5 No.5, pp.326 - 334
Received: 08 May 2021
Accepted: 12 May 2021
Published online: 12 Mar 2014 *