An adaptive root-solving controller for tracking of nonlinear dynamic plants

Naveed R. Butt, Muhammad Shafiq, Tahir Khan

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

6 Citations (Scopus)

Abstract

Adaptive tracking of nonlinear 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 nonlinear 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 nonlinear 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 (Nonlinear 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 application to the real-time control of a single-link robotic arm manipulator and simulations for different nonlinear plants.

Original languageEnglish
Title of host publicationICIECA 2005: International Conference on Industrial Electronics and Control Applications 2005
PublisherIEEE Computer Society
Volume2005
ISBN (Print)0780394194, 9780780394193
DOIs
Publication statusPublished - 2005
EventICIECA 2005: International Conference on Industrial Electronics and Control Applications 2005 - Quito, Ecuador
Duration: Nov 29 2005Dec 2 2005

Other

OtherICIECA 2005: International Conference on Industrial Electronics and Control Applications 2005
CountryEcuador
CityQuito
Period11/29/0512/2/05

ASJC Scopus subject areas

  • Engineering(all)

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    Butt, N. R., Shafiq, M., & Khan, T. (2005). An adaptive root-solving controller for tracking of nonlinear dynamic plants. In ICIECA 2005: International Conference on Industrial Electronics and Control Applications 2005 (Vol. 2005). [1644364] IEEE Computer Society. https://doi.org/10.1109/ICIECA.2005.1644364