LUT Controller Design with Piecewise Bilinear Systems Using Estimation of Bounds for Approximation Errors

摘要

We propose the stabilization of nonlinear control systems approximated by Piecewise Bilinear (PB) models. The approximated model is fully parametric and a Look-Up-Table (LUT) represents its controller. Input-Output (I/O) feedback linearization is applied to stabilize PB control systems. We further propose PB modeling combined with conventional feedback linearization as a very powerful tool for analyzing and synthesizing nonlinear control systems. We also propose a method for designing robust stabilization controllers taking modeling error into consideration. Examples confirm the feasibility of our proposals.