Research Papers

A Novel Internal Model-Based Tracking Control for a Class of Linear Time-Varying Systems

[+] Author and Article Information
Zhen Zhang

Department of Mechanical Engineering, University of Minnesota, Twin Cities Campus, Minneapolis, MN 55455zhangz@umn.edu

Zongxuan Sun1

Department of Mechanical Engineering, University of Minnesota, Twin Cities Campus, Minneapolis, MN 55455zsun@umn.edu

Hence we do not need to put the plant model in the normal form, but for general output regulation problem putting the system in the normal form is the starting point to calculate the term R(t).


Corresponding author.

J. Dyn. Sys., Meas., Control 132(1), 011004 (Dec 01, 2009) (10 pages) doi:10.1115/1.4000071 History: Received November 23, 2008; Revised July 27, 2009; Published December 01, 2009; Online December 01, 2009

This paper provides a novel method of constructing an internal model-based design of reference tracking and/or disturbance rejection for a class of linear time-varying plants with a known linear time invariant (LTI) exosystem. It is shown how the realization of an appropriate time-varying internal model can be constructed by means of a novel feedback mechanism. The design of the internal model consists of two ingredients: (1) a time-varying system immersion of the exosystem, and (2) an automatic generation of the desired control input to render the error-zeroing subspace invariant, based on the complete knowledge of the plant model. The important features of the proposed method lie in that the tracking problem setup and the proposed feedback mechanism allow us to avoid explicitly calculating the desired input, which keeps the regulated error identically at zero. Moreover the time-varying immersion is guaranteed to hold for the class of plant models under consideration. These features significantly broaden the range of applications of the proposed method, and simplify the control implementation process.

Copyright © 2010 by American Society of Mechanical Engineers
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Figure 1

Block diagram of the error-feedback compensator

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Figure 2

Tracking error and control input

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Figure 3

Plant parameters




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