An optimization approach to robust nonlinear control design. (English) Zbl 0813.93037
Summary: A new procedure of robust control design is presented for nonlinear systems with parametric uncertainty and disturbance. This nonlinear optimization-based approach can design robust nonlinear controllers of widely different structures and arbitrary complexity. By taking the worst-case design approach, a minimax optimization problem is formulated. A number of state-of-the-art optimization procedures are explored as possible candidates for minimaximization. It is determined that the tools of non-smooth analysis and optimization are the most useful for the efficient solution of practical size worst-case design problems. The controller designs produced by the minimax optimization algorithm are discussed and the performance of the controllers is studied by simulations.
MSC:
| 93B51 | Design techniques (robust design, computer-aided design, etc.) |
| 93C10 | Nonlinear systems in control theory |
| 93B35 | Sensitivity (robustness) |
| 93C73 | Perturbations in control/observation systems |
| 93B40 | Computational methods in systems theory (MSC2010) |
Software:
SIGMA_References:
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