Decentralized filtered dynamic inversion for uncertain minimum-phase systems

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11 Scopus citations

Abstract

Decentralized filtered dynamic inversion is a control method for uncertain linear time-invariant systems that are minimum phase, have multi-input multi-output decentralized subsystems, and are potentially subject to unknown disturbances. This controller requires limited model information, specifically, knowledge of the relative degree and an estimate of the first nonzero Markov parameter for each local subsystem. Decentralized filtered dynamic inversion is effective for command following and rejection of unknown disturbances. We derive the decentralized filtered-dynamic-inversion controller and analyzes the closed-loop stability and performance (i.e., command-following error). We show that for sufficiently large choice of a single control parameter the closed-loop system is asymptotically stable, and the average power of the performance is arbitrarily small.

Original languageEnglish
Pages (from-to)192-200
Number of pages9
JournalAutomatica
Volume61
DOIs
StatePublished - Nov 2015

Bibliographical note

Publisher Copyright:
© 2015 Elsevier Ltd.

Keywords

  • Control with model uncertainty
  • Decentralized control
  • Dynamic inversion

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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