An Analytical Method for the Synthesis of Nonlinear Multivariable Feedback Control

摘要

An analytical synthesis method for the feedback control of nonlinear multivariable systems was developed. The synthesis procedure derived is based on linearizing a system about a set of closely-spaced steady-state operating points and applying linear optimization methods at each point. A single nonlinear control problem is thereby reduced to a series of linear control problems. This permits the use of established analytical and numerical methods associated with linear optimal control theory. At each operating point, an optimal linear feedback controller is generated by minizing a quadratic performance criterion. Weighting factors within each performance criterion enable the control designer to satisfy performance specifications by trading-off system response against control actuation rates. Nonlinear feedback control is then constructed by combining the series of linear controllers into a single nonlinear controller whose feedback gains vary with system state. (Modified author abstract)