H-infinity control of nonlinear systems with common multi-channel delays

Grimble, M.J. and Majecki, P.M. (2006) H-infinity control of nonlinear systems with common multi-channel delays. In: American Control Conference 2006, 2006-06-14 - 2006-06-16. (http://dx.doi.org/10.1109/ACC.2006.1657620)

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Abstract

A generalized H-infinity controller is derived for the control of nonlinear, possibly time-varying, multivariable systems with common output or input channel delays. A Nonlinear Generalized Minimum Variance (NGMV) controller has recently been proposed for plants modelled by a combination of linear and nonlinear subsystems, where the disturbance and reference models are linear. The aim in the following is to obtain a related controller but one which minimizes an H-infinity norm, to enable sensitivity functions to be shaped. The cost-function to be minimized involves both error and control signal costing terms, which are related to sensitivity and control sensitivity costing terms.

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