Generic Model Control — The Basics

The basic concept of Generic Model Control (GMC), (Lee and Sullivan, 1988), and its closely aligned cousins Reference System Synthesis (Bartusiak et al, 1988) and internal decoupling (Balchen et al, 1988) is to find values of the manipulated inputs that force a model of the system to follow a desired reference system or trajectory. The methods are clearly related to a body of mathematical knowledge known as differential geometry involving exact linearization of nonlinear mappings between the input and output variables (Isidori, 1989). The purpose of this chapter is not to present all of the theoretical underpinnings of the technique, but rather to provide enough of the essential elements of the method in a tutorial style that will allow the reader to appreciate the applications of the technique presented in each of the subsequent case studies.

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