CONTROLLER DESIGN IN PRESENCE OF NON-SMOOTH NONLINEARITY: A FLIGHT CONTROL EXAMPLE

摘要

The problem of output regulation with guaranteed transient performances in the presence of non-smooth nonlinearity is discussed. The fast dynamical controller with the relative highest derivative of output signal in feedback loop is used. Consequently, two-time-scale motions are induced in the closed-loop system. Stability conditions imposed on the fast and slow modes and sufficiently large mode separation rate can ensure that the full-order closed-loop system achieves the desired properties in such a way that the output transient performances are desired and insensitive to external disturbances and parameter variations in the system. The existence of stable limit cycle in the fast motion subsystem gives the robustness of the output transient performances in the presence of non-smooth nonlinearity and model uncertainty.