한국기계가공학회지 (Journal of the Korean Society of Manufacturing Process Engineers)

  • 제21권8호
  • /
  • Pages.32-42
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  • 2022
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  • 1598-6721(pISSN)
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  • 2288-0771(eISSN)
한국기계가공학회 (The Korean Society of Manufacturing Process Engineers)
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학습제어를 이용한 비최소 위상 비선형 시스템의 점근적 추종

Asymptotic Output Tracking of Non-minimum Phase Nonlinear Systems through Learning Based Inversion

  • 투고 : 2022.06.26
  • 심사 : 2022.07.11
  • 발행 : 2022.08.31
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초록

Asymptotic tracking of a non-minimum phase nonlinear system has been a popular topic in control theory and application. In this paper, we propose a new control scheme to achieve asymptotic output tracking in anon-minimum phase nonlinear system for periodic trajectories through an iterative learning control with the stable inversion. The proposed design method is robust to parameter uncertainties and periodic external disturbances since it is based on iterative learning. The performance of the proposed algorithm was demonstrated through the simulation results using a typical non-minimum nonlinear system of an inverted pendulum on a cart.

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참고문헌

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