Controller design for highly nonlinear systems

The main purpose of this paper is to report on development of a new robust and high performance controller design platform for use with highly nonlinear systems without any restrictions on non-linearity type, non-linearity arrangement, the number of nonlinear terms, the order of the system, and the number of inputs and/or the outputs. The design platform is based on describing function approach to analysis, diagnose, and design of highly nonlinear systems. The presented describing function approach to design of nonlinear control systems is fully systematic, computer-aided, and it minimizes the subjective judgment that needs to be employed by the designer. The approach is applied to robotic and aerospace example problems.

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