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    Control of nonlinear systems with output tracking error constraints and its application to magnetic bearings

    Access Status
    Fulltext not available
    Authors
    Do, Khac Duc
    Date
    2010
    Type
    Journal Article
    
    Metadata
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    Citation
    Do, K.D. 2010. Control of nonlinear systems with output tracking error constraints and its application to magnetic bearings. International Journal of Control. 83 (6): pp. 1199-1216.
    Source Title
    International Journal of Control
    DOI
    10.1080/00207171003664828
    ISSN
    0020-7179
    School
    Department of Mechanical Engineering
    URI
    http://hdl.handle.net/20.500.11937/30086
    Collection
    • Curtin Research Publications
    Abstract

    A constructive method is presented to design controllers that force the output of nonlinear systems in a strict feedback form to track a bounded and sufficiently smooth reference trajectory asymptotically. Under a suitable condition on the initial output tracking error, the proposed controllers guarantee the output tracking error within a symmetric or an asymmetric pre-specified limit range, and boundedness of all signals of the closed-loop system. A transformation is introduced to take care of the output tracking error constraint. Smooth and/or p-times differentiable step functions are proposed and incorporated in the output tracking error transformation to overcome difficulties due to the asymmetric limit range on the output tracking error. As a result, there are no switchings in the proposed controllers despite the asymmetric limit range. The proposed control design is then applied to design a tracking controller for active magnetic bearings as an illustrating application. © 2010 Taylor & Francis.

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