论文信息 - A Self-tuning Controller for MIMO Nonlinear Systems

A Self-tuning Controller for MIMO Nonlinear Systems

Abstract A new self-tuning control (STC) strategy for nonlinear, multi-input, multi-output control problems is proposed. This strategy is applicable to a broad class of nonlinear systems which can include arbitrary nonlinear functions of the old inputs and outputs as well as the products of these functions and any powers of the most recent inputs. Simulation results for a two-link robot manipulator demonstrate that the new nonlinear STC strategy provides significant improvement over conventional STC's based on linear models.

Dale E. Seborg | Mukul Agarwal

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