A novel internal model control scheme for adaptive tracking of nonlinear dynamic plants

T. Khan, M. Shafiq

Research output: Chapter in Book/Report/Conference proceedingConference contribution

10 Citations (Scopus)

Abstract

Adaptive tracking of nonlinear dynamic plants is presently an active area of research. The design of on-line nonlinear controller for tracking of nonlinear plants has always been an inevitable computationally complex procedure. In this paper a novel method to facilitate controller design for output tracking of wide range of nonlinear plants based on a new control oriented model known as U-model is presented. The use of U-model alleviates the computational complexity of on-line nonlinear controller design that arises when using other modelling frame works such as NAR-MAX model. The U-model utilizes only past data for plant modelling and standard root solving algorithm for control law formulation. The control structure of the scheme contains two feedback loops. The inner-loop, where inverse of the plant is developed based on adaptive U-model. Outer-loop, which is designed using linear control theory to improve tracking and disturbance rejection properties of the overall system. The effectiveness of the proposed scheme is illustrated by simulating a nonlinear plant and by real-time speed control of a laboratory scale DC motor.

Original languageEnglish
Title of host publication2006 1st IEEE Conference on Industrial Electronics and Applications
DOIs
Publication statusPublished - 2006
Event2006 1st IEEE Conference on Industrial Electronics and Applications, ICIEA 2006 - Singapore, Singapore
Duration: May 24 2006May 26 2006

Other

Other2006 1st IEEE Conference on Industrial Electronics and Applications, ICIEA 2006
CountrySingapore
CitySingapore
Period5/24/065/26/06

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Industrial and Manufacturing Engineering

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    Khan, T., & Shafiq, M. (2006). A novel internal model control scheme for adaptive tracking of nonlinear dynamic plants. In 2006 1st IEEE Conference on Industrial Electronics and Applications [4025819] https://doi.org/10.1109/ICIEA.2006.257202