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Active disturbance rejection in affine nonlinear systems based on equivalent-input-disturbance approach. (English) Zbl 1386.93085
Summary: This paper presents a disturbance rejection method for an affine nonlinear system. The control system is constructed based on the equivalent-input-disturbance (EID) approach. An affine nonlinear state observer is used to reconstruct the state of the affine nonlinear system and to estimate an EID. The well-known differential mean value theorem enables us to describe the closed-loop system in the state space as a linear-parameter-varying system. This makes it easy to derive sufficient conditions of global uniform ultimate boundedness in term of linear matrix inequalities (LMIs) by using a Lyapunov function and convexity theory. Controllers are designed based on the LMIs. A numerical example is used to illustrate the design of the control system. And a comparison between the EID-based control and the sliding-mode control demonstrates the effectiveness and advantages of the EID-based control method.
93B35 Sensitivity (robustness)
93C10 Nonlinear systems in control theory
93C73 Perturbations in control/observation systems
93D30 Lyapunov and storage functions
93C15 Control/observation systems governed by ordinary differential equations
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