Proportional-integral controllers for minimum-phase nonaffine-in-control systems

• Main Authors: Teo, Justin (Contributor), How, Jonathan P. (Contributor), Lavretsky, Eugene (Author)
• Other Authors: Massachusetts Institute of Technology. Aerospace Controls Laboratory (Contributor), Massachusetts Institute of Technology. Department of Aeronautics and Astronautics (Contributor)
• Format: Article
• Language: English
• Published: Institute of Electrical and Electronics Engineers, 2011-04-01T21:04:08Z.
• Subjects: Article
• Online Access: Get fulltext

We show that stabilizing tracking proportional-integral (PI) controllers can be constructed for minimum-phase nonaffine-in-control systems. The constructed PI controller is an equivalent realization of an approximate dynamic inversion controller. This equivalence holds only for the time response when applied to the unperturbed system. Even when restricted to unperturbed minimum-phase linear time invariant systems, their closed loop robustness properties differ. This shows that in general, properties that do not define the equivalence relation for systems/controllers are not preserved under such equivalence transformations.
Singapore. DSO National Laboratories
United States. Air Force Office of Scientific Research (AFOSR grant FA9550-08-1-0086)