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research-article

Restructuring Controllers to Accommodate Plant Nonlinearities

[+] Author and Article Information
William G. La Cava

Department of Mechanical and Industrial Engineering University of Massachusetts Amherst, Massachusetts 01003
wlacava@umass.edu

Kushal Sahare

Department of Mechanical and Industrial Engineering University of Massachusetts Amherst, Massachusetts 01003
ksahare@umass.edu

Kourosh Danai

Department of Mechanical and Industrial Engineering University of Massachusetts Amherst, Massachusetts 01003
danai@ecs.umass.edu

1Corresponding author.

ASME doi:10.1115/1.4035870 History: Received May 30, 2016; Revised January 17, 2017

Abstract

A method of controller restructuring is introduced for improved closed-loop control of nonlinear plants. In this method, an initial controller, potentially the linear controller designed according to the linearized model of the plant, is expanded into several candidate nonlinear control structures that are subsequently shaped to achieve a desired closed-loop response. The salient feature of the proposed method is a metric for quantifying structural perturbations to the controllers, which it uses to scale the structural Jacobian for improving its condition number. This improved Jacobian underlies shaping of candidate controllers through gradient-based search. Results obtained from three case studies indicate the success of the proposed restructuring method in finding nonlinear controllers that not only improve the closed-loop response of the nonlinear plant but also its robustness to modeling uncertainty.

Copyright (c) 2017 by ASME
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