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Nonlinear State Error Feedback Control Law──NLSEF

Han Jingqing (Institute of Systems Sciences, Academia Sinica)  
In this paper,a new type of nonlinear state error feedback control law (NLSEF) is given, which is independent on the mathematical expression of the object. By making of the "extended state observer" that can be used to estimate successfully the "extended state" of uncertain system, it is possible to realize the "state feedback" and "model, external disturbance compensation". This "model compensation" is really equivalet to the "feedback linearization" for the nonlinear system. Furthermore in this control scheme the integrator is not needed anymore to eliminate the steady error caused by external disturbance. Our computer simulations also demonstrate that this NLSEF has good adaptability and robustness.
【Fund】: 国家自然科学基金
【CateGory Index】: TP13
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