Constant disturbance suppression for nonlinear systems design using singular perturbation theory

Steven W. Su; Brian D.O. Anderson; Thomas S. Brinsmead

doi:10.1109/CDC.2001.980326

Constant disturbance suppression for nonlinear systems design using singular perturbation theory

Steven W. Su^*, Brian D.O. Anderson, Thomas S. Brinsmead

^*Corresponding author for this work

Research output: Contribution to journal › Conference article › peer-review

1 Citation (Scopus)

Abstract

A relatively practical method of suppressing the effect of constant disturbances on nonlinear systems is presented. by adding an integrator to a stabilising controller, it is possible to achieve both constant disturbance rejection and zero tracking error. Sufficient conditions for the rejection of a constant input disturbance are given. We give both local and global conditions such that the inclusion of an integrator in the closed loop maintains closed loop stability. The analysis is based on singular perturbation theory. Furthermore, we extend these methods to deal with Multiple-input Multiple-output nonlinear systems. Finally, we implement our method in the control of a simulated helicopter model. The simulation results show that this method achieves satisfactory performance.

Original language	English
Pages (from-to)	3272-3277
Number of pages	6
Journal	Proceedings of the IEEE Conference on Decision and Control
Volume	4
DOIs	https://doi.org/10.1109/CDC.2001.980326
Publication status	Published - 2001
Event	40th IEEE Conference on Decision and Control (CDC) - Orlando, FL, United States Duration: 4 Dec 2001 → 7 Dec 2001

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10.1109/CDC.2001.980326

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@article{5549d607757f4b79af9cf7313a38161c,

title = "Constant disturbance suppression for nonlinear systems design using singular perturbation theory",

abstract = "A relatively practical method of suppressing the effect of constant disturbances on nonlinear systems is presented. by adding an integrator to a stabilising controller, it is possible to achieve both constant disturbance rejection and zero tracking error. Sufficient conditions for the rejection of a constant input disturbance are given. We give both local and global conditions such that the inclusion of an integrator in the closed loop maintains closed loop stability. The analysis is based on singular perturbation theory. Furthermore, we extend these methods to deal with Multiple-input Multiple-output nonlinear systems. Finally, we implement our method in the control of a simulated helicopter model. The simulation results show that this method achieves satisfactory performance.",

author = "Su, {Steven W.} and Anderson, {Brian D.O.} and Brinsmead, {Thomas S.}",

year = "2001",

doi = "10.1109/CDC.2001.980326",

language = "English",

volume = "4",

pages = "3272--3277",

journal = "Proceedings of the IEEE Conference on Decision and Control",

issn = "0743-1546",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

note = "40th IEEE Conference on Decision and Control (CDC) ; Conference date: 04-12-2001 Through 07-12-2001",

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TY - JOUR

T1 - Constant disturbance suppression for nonlinear systems design using singular perturbation theory

AU - Su, Steven W.

AU - Anderson, Brian D.O.

AU - Brinsmead, Thomas S.

PY - 2001

Y1 - 2001

N2 - A relatively practical method of suppressing the effect of constant disturbances on nonlinear systems is presented. by adding an integrator to a stabilising controller, it is possible to achieve both constant disturbance rejection and zero tracking error. Sufficient conditions for the rejection of a constant input disturbance are given. We give both local and global conditions such that the inclusion of an integrator in the closed loop maintains closed loop stability. The analysis is based on singular perturbation theory. Furthermore, we extend these methods to deal with Multiple-input Multiple-output nonlinear systems. Finally, we implement our method in the control of a simulated helicopter model. The simulation results show that this method achieves satisfactory performance.

AB - A relatively practical method of suppressing the effect of constant disturbances on nonlinear systems is presented. by adding an integrator to a stabilising controller, it is possible to achieve both constant disturbance rejection and zero tracking error. Sufficient conditions for the rejection of a constant input disturbance are given. We give both local and global conditions such that the inclusion of an integrator in the closed loop maintains closed loop stability. The analysis is based on singular perturbation theory. Furthermore, we extend these methods to deal with Multiple-input Multiple-output nonlinear systems. Finally, we implement our method in the control of a simulated helicopter model. The simulation results show that this method achieves satisfactory performance.

UR - http://www.scopus.com/inward/record.url?scp=0035712991&partnerID=8YFLogxK

U2 - 10.1109/CDC.2001.980326

DO - 10.1109/CDC.2001.980326

M3 - Conference article

SN - 0743-1546

VL - 4

SP - 3272

EP - 3277

JO - Proceedings of the IEEE Conference on Decision and Control

JF - Proceedings of the IEEE Conference on Decision and Control

T2 - 40th IEEE Conference on Decision and Control (CDC)

Y2 - 4 December 2001 through 7 December 2001

ER -

Constant disturbance suppression for nonlinear systems design using singular perturbation theory

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