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research-article

Multi-Model Control of Nonlinear Systems: An Improved Gap Metric and Stability Margin Based Method

[+] Author and Article Information
Mahdi Ahmadi

Advanced Control Systems Lab, Electrical Engineering, Sharif University of Technology, Tehran, Iran
mahdiahmadi@ee.sharif.edu

Mohammad Haeri

Advanced Control Systems Lab, Electrical Engineering, Sharif University of Technology, Tehran, Iran
haeri@sina.sharif.edu

1Corresponding author.

ASME doi:10.1115/1.4039086 History: Received June 10, 2017; Revised December 13, 2017

Abstract

This paper presents a new multi-model controller design approach incorporating stability and performance criteria. The gap metric is employed to measure the distance between local models. An efficient method based on state feedback strategy is introduced to improve the maximum stability margin of the local models. The proposed method avoids local model redundancy, simplifies the multi-model controller structure, and supports employing of many linear control techniques, while does not rely on a priori experience to choose the gridding threshold value. To evaluate the proposed method, two benchmark nonlinear systems are studied. Simulation results demonstrate that the method provides the closed-loop stability and performance via a simple multi-model structure in comparison with the opponents.

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