A NEW NEAR OPTIMAL HIGH GAIN CONTROLLER FOR THE NON-MINIMUM PHASE AFFINE NONLINEAR SYSTEMS

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FOGHAHAAYEE HODA N.; MENHAJ MOHAMMAD B.

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Journal Paper

Paper Information

Journal: AMIRKABIR INTERNATIONAL JOURNAL OF MODELING, IDENTIFICATION, SIMULATION AND CONTROL Year:2015 | Volume:47 | Issue:1 Page(s): 9-20

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Title

A NEW NEAR OPTIMAL HIGH GAIN CONTROLLER FOR THE NON-MINIMUM PHASE AFFINE NONLINEAR SYSTEMS

Author(s)

FOGHAHAAYEE HODA N. | MENHAJ MOHAMMAD B.

Keywords

NON-MINIMUM PHASE

NONLINEAR SYSTEMS

CHEAP CONTROL

OPTIMAL CONTROLLER

HAMILTON-JACOBI-BELLMAN EQUATION (HJB)

Abstract

In this paper, a new analytical method to find a near-optimal high gain controller for the NON-MINIMUM PHASE affine NONLINEAR SYSTEMS is introduced. This controller is derived based on the closed form solution of the Hamilton-Jacobi-Bellman (HJB) equation associated with the CHEAP CONTROL problem. This methodology employs an algebraic equation with parametric coefficients for the systems with scalar internal dynamics and a differential equation for those systems with the internal dynamics of order higher than one. It is shown that 1) if the system starts from different initial conditions located in the close proximity of the origin the regulation error of the closed-loop system with the proposed controller is less than that of the closed-loop system with the high gain LQR, which is surely designed for the linearized system around the origin, 2). for the initial conditions located in a region far from the origin, the proposed controller significantly outperforms the LQR controller.

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APA: Copy

FOGHAHAAYEE, HODA N., & MENHAJ, MOHAMMAD B.. (2015). A NEW NEAR OPTIMAL HIGH GAIN CONTROLLER FOR THE NON-MINIMUM PHASE AFFINE NONLINEAR SYSTEMS. AMIRKABIR INTERNATIONAL JOURNAL OF MODELING, IDENTIFICATION, SIMULATION AND CONTROL, 47(1), 9-20. SID. https://sid.ir/paper/320032/en

Vancouver: Copy

FOGHAHAAYEE HODA N., MENHAJ MOHAMMAD B.. A NEW NEAR OPTIMAL HIGH GAIN CONTROLLER FOR THE NON-MINIMUM PHASE AFFINE NONLINEAR SYSTEMS. AMIRKABIR INTERNATIONAL JOURNAL OF MODELING, IDENTIFICATION, SIMULATION AND CONTROL[Internet]. 2015;47(1):9-20. Available from: https://sid.ir/paper/320032/en

IEEE: Copy

HODA N. FOGHAHAAYEE, and MOHAMMAD B. MENHAJ, “A NEW NEAR OPTIMAL HIGH GAIN CONTROLLER FOR THE NON-MINIMUM PHASE AFFINE NONLINEAR SYSTEMS,” AMIRKABIR INTERNATIONAL JOURNAL OF MODELING, IDENTIFICATION, SIMULATION AND CONTROL, vol. 47, no. 1, pp. 9–20, 2015, [Online]. Available: https://sid.ir/paper/320032/en

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