Equivalence between Approximate Dynamic Inversion and Proportional-Integral control

—Approximate Dynamic Inversion (ADI) has been established as a method to control minimum-phase, nonaffine-incontrol systems. Previous results have shown that for single-input nonaffine-in-control systems, every ADI controller admits a linear Proportional-Integral (PI) realization that is largely independent of the nonlinear function that defines the system. In this report, we first present an extension of the ADI method for single-input nonaffine-in-control systems that renders the closed-loop error dynamics independent of the reference model dynamics. The equivalent PI controller will be derived and both of these results are then extended to multi-input nonaffine-in-control systems.

• Type: Conference
• Year: 2008
• Where: CDC
• Authors: Justin Teo, Jonathan P. How
• Keywords: ADI Controller, CDC 2008, Control Systems, Single-input Nonaffine-in-control Systems, —approximate Dynamic Inversion