SYNTHESIS OF SUBOPTIMAL NONLINEAR CONTROLLER BY THE IMMERSION METHOD

Valeriy Kudin - Josef Kolačný

   The paper is concerned with the problem of suboptimal nonlinear control syntheses, based on the Bellman-Lyapunov method and an idea of the immersion method. As a result, the initial complex problem of nonlinear syntheses is disintegrated into a number of simple problems on the analytical design of nonlinear optimal controllers (ADOC). The developed formalism of the decision ADOC problem permitted repeatedly to intensify the computational effectiveness of the procedure of suboptimal nonlinear controllers synthesis, especially for multivariable control systems, which have several nonlinearities. An example is given.

Keywords: syntheses, optimal nonlinear controller, analytical design, optimal controllers, Bellman-Lyapunov equation, immersion method

[full-paper]