Control Comparisons for the Nonlinear
نویسندگان
چکیده
The experimental performance of recently proposed approximation techniques for nonlinear optimal, and nonlinear H 1 control compare favorably with other popular design techniques including LQR, linear H 1 , backstepping, and passivity based control. The performance of the aforementioned six control laws on a physical system similar to the Nonlinear Benchmark problem proposed by Bernstein is compared and contrasted. For the benchmark system, the successive Galerkin approximation of the nonlinear H 1 controller , appears to give superior results on a semi-global region of state space.
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