Combined Nonlinear Control of Non-Affine MIMO System with Input and State Delays

Abstract

The article studies algorithms synthesis of a multiply connected system for controlling non-affine plants, the state variables of which are not available for direct measurement. It is shown that the decentralized control law constructed on the basis of the hyperstability criterion eliminates the influence of non-linearities and compensates external and parametric perturbations in the tracking multiply connected system with the required accuracy.

Asymptotic Hyperstability and Input–Output Energy Positivity of a Single-Input Single-Output System Which Incorporates a Memoryless Non-Linear Device in the Feed-Forward Loop

“…[20][21][22]. The concept of hyperstability is closely related to the more general one of dissipativity, or its particular version of passivity, through the above-mentioned positivity/boundedness properties of the input-output energy [23][24][25][26][27]. On the other hand, a variety of applications in different designs in the fields of mechanics, electric machinery, circuit synthesis, model reference adaptive control, and delayed systems has been performed.…”