TY - JOUR
T1 - Adaptive tracking of non-linear dynamic plants, using the U-model
AU - Butt, N. R.
AU - Shafiq, M.
PY - 2006/1/1
Y1 - 2006/1/1
N2 - Adaptive tracking of non-linear dynamic plants is currently an important area of research. The main difficulty being felt by the research community is the lack of a general modelling framework that can facilitate synthesis of a simplistic control law while being capable of providing accurate approximation of non-linear systems. In this study a novel technique based on the control-oriented U-model is proposed for the adaptive tracking of a wide range of stable non-linear dynamic plants using only past data. The basic scheme is based on the robust internal model control (IMC) structure. An adaptive version of the U-model is introduced for the modelling of the plant, and a simplistic control law based on polynomial root-solving is synthesized. The proposed scheme has a more general appeal than other adaptive schemes based on models such as the polynomial NARMAX (Non-linear AutoRegressive Moving Average with exogenous inputs) model. Additionally, the control law is much simpler in nature. The effectiveness of the proposed adaptive scheme is demonstrated through simulations and real-time implementation.
AB - Adaptive tracking of non-linear dynamic plants is currently an important area of research. The main difficulty being felt by the research community is the lack of a general modelling framework that can facilitate synthesis of a simplistic control law while being capable of providing accurate approximation of non-linear systems. In this study a novel technique based on the control-oriented U-model is proposed for the adaptive tracking of a wide range of stable non-linear dynamic plants using only past data. The basic scheme is based on the robust internal model control (IMC) structure. An adaptive version of the U-model is introduced for the modelling of the plant, and a simplistic control law based on polynomial root-solving is synthesized. The proposed scheme has a more general appeal than other adaptive schemes based on models such as the polynomial NARMAX (Non-linear AutoRegressive Moving Average with exogenous inputs) model. Additionally, the control law is much simpler in nature. The effectiveness of the proposed adaptive scheme is demonstrated through simulations and real-time implementation.
KW - Adaptive non-linear control
KW - Control-oriented adaptive models
KW - Internal model control
KW - U-model based control
UR - http://www.scopus.com/inward/record.url?scp=66549118224&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=66549118224&partnerID=8YFLogxK
U2 - 10.1243/09596518JSCE190
DO - 10.1243/09596518JSCE190
M3 - Article
AN - SCOPUS:66549118224
SN - 0959-6518
VL - 220
SP - 573
EP - 587
JO - Proceedings of the Institution of Mechanical Engineers. Part I: Journal of Systems and Control Engineering
JF - Proceedings of the Institution of Mechanical Engineers. Part I: Journal of Systems and Control Engineering
IS - 6
ER -