This article deals with a linear classical approach for the robust output reference trajectory tracking control of nonlinear SISO Lagrangian systems with a controllable(fAat)tangent linearization around an operating e...This article deals with a linear classical approach for the robust output reference trajectory tracking control of nonlinear SISO Lagrangian systems with a controllable(fAat)tangent linearization around an operating equilibrium point.An endogenous injections and exogenous feedback(EIEF)approach is proposed,which is naturally equivalent to the generalized propor-tional integral control method and to a robust classical compensation network.It is shown that the EIEF controller is also equivalent,within a frequency domain setting demanding respect for the separation principle,to the reduced order observer based active disturbance rejection control approach.The proposed linear control approach is robust with respect to total dis-turbances and,thus,it is ffective for the linear control of the nonlinear Lagrangian system.An ilustrative nonlinear rotary crane Lagrangian system example,which is non-feedback linearizable,is presented along with digital computer simulations.展开更多
In this article, we establish the route taken by the author, and his research group, to bring differential flatness to the realm of active disturbance rejection control (ADRC). This avenue entitled: 1) generalized...In this article, we establish the route taken by the author, and his research group, to bring differential flatness to the realm of active disturbance rejection control (ADRC). This avenue entitled: 1) generalized proportional integral observers (GPIO), as natural state and disturbance observers for fiat systems, 2) generalized proportional integral (GPI) control, provided with extra integrations, to produce a modular controller known as flat filters (FF's) and, finally, 3) the establishing of an equivalence of observer based ADRC with FF's. The context is that of pure integration systems. The obtained controllers depend only on the order of the flat system and they are to be directly used on the basis of the available flat output signal in a universal, modular, fashion. The map is complemented with the relevant references where the intermediate techniques were illustrated and developed, over the years, in connection with laboratory experimental implementations.展开更多
基金The work of M.A.Aguilar-Orduia and B.C.Gomez-Leon was supported by Consejo Nacional de Ciencia y Tec-nologia(CONACYT)Mexico under Scholarship Grants no.702805 and no.1039577,respectively.
文摘This article deals with a linear classical approach for the robust output reference trajectory tracking control of nonlinear SISO Lagrangian systems with a controllable(fAat)tangent linearization around an operating equilibrium point.An endogenous injections and exogenous feedback(EIEF)approach is proposed,which is naturally equivalent to the generalized propor-tional integral control method and to a robust classical compensation network.It is shown that the EIEF controller is also equivalent,within a frequency domain setting demanding respect for the separation principle,to the reduced order observer based active disturbance rejection control approach.The proposed linear control approach is robust with respect to total dis-turbances and,thus,it is ffective for the linear control of the nonlinear Lagrangian system.An ilustrative nonlinear rotary crane Lagrangian system example,which is non-feedback linearizable,is presented along with digital computer simulations.
文摘In this article, we establish the route taken by the author, and his research group, to bring differential flatness to the realm of active disturbance rejection control (ADRC). This avenue entitled: 1) generalized proportional integral observers (GPIO), as natural state and disturbance observers for fiat systems, 2) generalized proportional integral (GPI) control, provided with extra integrations, to produce a modular controller known as flat filters (FF's) and, finally, 3) the establishing of an equivalence of observer based ADRC with FF's. The context is that of pure integration systems. The obtained controllers depend only on the order of the flat system and they are to be directly used on the basis of the available flat output signal in a universal, modular, fashion. The map is complemented with the relevant references where the intermediate techniques were illustrated and developed, over the years, in connection with laboratory experimental implementations.