Model-free robust decoupling control of nonlinear nonaffine dynamic systems

This study presents a model-free robust input-output decoupling control with Nonlinear-Dynamic-Coupling Inversion/Inverter (NDCI) in U-control framework. Regarding the decoupling, an input/output (I/O) coupling matrix function is proposed to derive two decouplers (U-decoupler/functional inversion and D-decoupler/static inversion). A general existing theorem proved for sliding mode (MFSMC) lay foundation NDCI, which takes Lyapunov differential inequality its derivative rather than semi-define derivative. Accordingly, multi-input multi-output (MIMO) (MFDUC) platform established integrate functionalities into double closed-loop system To validate configurations, this transparent comparative simulated bench tests, also could be treated as user guidance further ad hoc applications.