Abstract:This article presents a novel scheme for model-based control of multi-input–multi-output (MIMO) systems considering input nonaffinity, nonlinear dynamical effects, and bounded modeling uncertainty. Commonly, model-based control of a nonaffine system is conducted based on an equivalent pseudo-affine expression. However, validity of this approximation necessitates boundedness of inputs and states. Furthermore, existence of truncation errors is inevitable when obtaining the pseudo-affine model. Therefore, robustn… Show more
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