A preliminary control design for the nonlinear benchmark problem

摘要

A nonlinear control problem has been posed by Bupp, Bernstein, andCoppola to provide a benchmark for evaluating various nonlinear controldesign techniques. In this paper, the state-dependent Riccati equation(SDRE) technique of Cloutier, D'Sousa and Mracek (1996) is utilized toproduce a preliminary design for the benchmark problem. Analysis of thedesign shows that in the absence of disturbances and uncertainties, theSDRE nonlinear feedback solution compares very favorably to the optimalopen-loop solution obtained via numerical optimization. It is also shownthat the closed-loop system has stability robustness against parametricvariations and low-frequency disturbances and attenuatesmiddle-frequency disturbances