Design of a H∞ model reference tracking control for interconnected nonlinear systems by decentralized dynamic output-feedback |
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| Authors: | Ali Sghaier Tlili |
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| Institution: | Laboratory of Advanced Systems, Polytechnic School of Tunisia, BP. 743, La Marsa, Tunis 2078, Tunisia |
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| Abstract: | This study investigates the problem of robust tracking control for interconnected nonlinear systems affected by uncertainties and external disturbances. The designed H∞ dynamic output-feedback model reference tracking controller is parameterized in terms of linear matrix inequalities (LMIs), which is formulated within a convex optimization problem readily implementable. The resolution of such a problem, guarantying not only the quadratic stability but also a prescribed performance level of the resulting closed-loop system, enables to calculate concurrently the robust decentralized control and observation gain matrices. The established LMI conditions are computed in a single-step resolution to obtain all the controller/observer parameters and therefore to overcome the problem of iterative algorithm based on a multi-stage resolution leading in most cases to conservative and suboptimal solutions. Numerical simulations on diverse applications ranging from a numerical academic example to coupled inverted double pendulums and a 3-strongly interconnected machine power system are provided to corroborate the merit of the proposed control scheme. |
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