OUTPUT TRACKING OF NON-MINIMUM PHASE NONLINEAR SYSTEMS

• Main Author: , FIRMAN
• Format: Dissertations
• Language: Indonesia
• Online Access: https://digilib.itb.ac.id/gdl/view/22178
• Institution: Institut Teknologi Bandung

In this dissertation we develop a control law as a dynamic feedback control for output tracking of some class non-minimum phase nonlinear system. The design of the dynamic control is based on the modification of the steepest descent control. <br /> <br /> The design of steepest descent control is started by defining a descent function, where the underlined descent function contains the internal dynamics of the system, in which the internal dynamics of the system assumed to be stable. Therefore, the design of the steepest descent control cannot be initiated from output causing the system to be non-minimum phase. In order to have minimum phase system, the output of the system must be redefined. Then, the steepest descent control being modified to get the time derivative of the descent function less than zero. <br /> <br /> The modified steepest descent control is an integrator that is added to the nonlinear system so that an extended system is obtained. In this dissertation, the modified steepest descent control being applied to track the desired output of the system output. The output tracking started from a class non-minimum phase, where this nonlinear class satisfies the assumption such that it can be linearized exactly. Then, the classes of non-minimum phase nonlinear systems where the system becomes minimum phase with the new output. The new output is the linear combination of the state variables. By choosing some particular assumption, the desired output of the the output which has been selected is determined based on the desired output of the original system. <br /> <br /> Furthermore, if the relative degree of the systems is not well defined, then it will cause the existence of singular point. In this case, we use polynomial control to track the systems output around the singular point.