In linear system, to improve bandwidth, we can use 2 DOF control design with a reference filter. The design is performed in frequency domain. Is there an equivalent method in control of nonlinear system? Let say if I am using backstepping and Lyapunov theory to develop the control.
Hi Jose,
2DOF control design is as in this paper: http://www.nt.ntnu.no/users/skoge/prost/proceedings/acc09/data/papers/0615.pdf or another one http://ijcas.org/admin/paper/files/401-411.pdf
I agree that there is no equivalent frequency analysis in nonlinear control in general. However, I was looking for is a method equivalent to 2DOF control design in linear control. The method could be somehow shape the reference input to increase closed loop bandwidth.
Thanks
There is 2DOF controllers based on Youla-Kucera parametrization, and an extention for non-linear systems,
"On the Youla Kucera parametrization for non-linear systems", A.D.B. Paice and J.B. Moore, System and Control Letters 14, 1990, pp. 121-129
However, I prefer to apply to linear systems, or LPV systems or even adaptive control
Indeed the fequency domain performance definitions used for lti systems don't generally have a one to one equivalent for nonlinear systems. However, frequency domain methods can be used to assess and optimize the performance of certain nonlinear systems. Please see the attached reference.
Thesis Frequency domain based performance optimization of systems w...
Back stepping is a full state feedback based on classical Lyapunov theory. U can use this approach if your system is in strict feedback form...
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