TY - GEN
T1 - A novel internal model control scheme for adaptive tracking of nonlinear dynamic plants
AU - Khan, T.
AU - Shafiq, M.
PY - 2006
Y1 - 2006
N2 - Adaptive tracking of nonlinear dynamic plants is presently an active area of research. The design of on-line nonlinear controller for tracking of nonlinear plants has always been an inevitable computationally complex procedure. In this paper a novel method to facilitate controller design for output tracking of wide range of nonlinear plants based on a new control oriented model known as U-model is presented. The use of U-model alleviates the computational complexity of on-line nonlinear controller design that arises when using other modelling frame works such as NAR-MAX model. The U-model utilizes only past data for plant modelling and standard root solving algorithm for control law formulation. The control structure of the scheme contains two feedback loops. The inner-loop, where inverse of the plant is developed based on adaptive U-model. Outer-loop, which is designed using linear control theory to improve tracking and disturbance rejection properties of the overall system. The effectiveness of the proposed scheme is illustrated by simulating a nonlinear plant and by real-time speed control of a laboratory scale DC motor.
AB - Adaptive tracking of nonlinear dynamic plants is presently an active area of research. The design of on-line nonlinear controller for tracking of nonlinear plants has always been an inevitable computationally complex procedure. In this paper a novel method to facilitate controller design for output tracking of wide range of nonlinear plants based on a new control oriented model known as U-model is presented. The use of U-model alleviates the computational complexity of on-line nonlinear controller design that arises when using other modelling frame works such as NAR-MAX model. The U-model utilizes only past data for plant modelling and standard root solving algorithm for control law formulation. The control structure of the scheme contains two feedback loops. The inner-loop, where inverse of the plant is developed based on adaptive U-model. Outer-loop, which is designed using linear control theory to improve tracking and disturbance rejection properties of the overall system. The effectiveness of the proposed scheme is illustrated by simulating a nonlinear plant and by real-time speed control of a laboratory scale DC motor.
UR - http://www.scopus.com/inward/record.url?scp=42749098624&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=42749098624&partnerID=8YFLogxK
U2 - 10.1109/ICIEA.2006.257202
DO - 10.1109/ICIEA.2006.257202
M3 - Conference contribution
AN - SCOPUS:42749098624
SN - 078039514X
SN - 9780780395145
T3 - 2006 1st IEEE Conference on Industrial Electronics and Applications
BT - 2006 1st IEEE Conference on Industrial Electronics and Applications
T2 - 2006 1st IEEE Conference on Industrial Electronics and Applications, ICIEA 2006
Y2 - 24 May 2006 through 26 May 2006
ER -