Tracking control and error analysis for non-linear plants using robust right coprime factorisation

摘要

In this paper, robust non-linear tracking control problem is considered using robust right coprime factorisation. In previous studies, restrictive conditions that the controlled plant can be described by a monotone operator and an invertible operator were assumed. We propose a control system without these restrictive assumptions for plants described by operators in wider classes. Although the proposed control system does not guarantee perfect tracking, however, the upper bound of the norm of tracking error is estimated based on the generalised H.S. Black formula. The control system for a non-linear plant with uncertainty is also addressed and the upper bound of tracking error is estimated. A design algorithm for the proposed control system is shown. The effectiveness of the proposed control system is verified by numerical examples for nominal and uncertain non-linear plants.