Nonlinear Inverse Models for Control

A general technique to design advanced controllers for non-linear systems is described, using component oriented modeling and symbolic algorithms as used for Modelica models. Starting point are linear design techniques that use linear inverse models as a core part of the controller structure. Starting from such a structure, the approach is to replace the linear inverse model with a nonlinear one, resulting in a controller that is applicable over the full operating range of the (nonlinear) plant. It is shown that nonlinear inverse models may be automatically generated from the plant model in Modelica.

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