Proportional-Integral Stabilizing Control of a Class of MIMO Systems Subject to Nonparametric Uncertainties by Additive-State-Decomposition Dynamic Inversion Design


Based mostly on the additive-state-decomposition (ASD) dynamic inversion style, a proportional-integral controller is meant to stabilize a category of multi-input multi-output (MIMO) systems subject to nonparametric time-varying uncertainties with respect to both state and input. By ASD and a brand new definition of output, the thought of unsure system is reworked into a first-order system, in that all original uncertainties are lumped into a brand new disturbance at the new outlined output. Subsequently, the dynamic inversion management is applied to reject the lumped disturbance. Performance analysis of the ensuing closed-loop dynamics shows that the stability can be ensured. Finally, to demonstrate its effectiveness, the proposed controller design is applied to 2 existing problems by numerical simulation. Furthermore, so as to show its practicability, the proposed controller style is additionally performed on a real quadrotor to stabilize its perspective when its inertia moment matrix is subject to a large uncertainty.

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