Predictive controllers for non-regular nonlinear systems
نویسندگان
چکیده
This paper presents the control of non-regular or singular nonlinear systems applying non-linear predictive controllers. The systems treated here have the relative degree not well defined thus feedback linearization is not applicable due to singularities in the input-output linearizing control law. An alternative controller capable of dealing with non-regular systems is the NCGPC (Nonlinear Continuous Time Generalized Predictive Control). The NCGPC is successfully applied to the standard “ball and beam” non-linear non-regular process. Key-Words: Nonlinear control, Predictive Control, Switching Control, Singular Systems, Relative Degree, Continuous system.
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