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Controller Design for A Nonlinear System in the Absence of Full State Measurements

Zeinali, Sahar | 2015

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 47823 (06)
  4. University: Sharif University of Technology
  5. Department: Modeling, Process Control and Simulation
  6. Advisor(s): Shahrokhi, Mohammad
  7. Abstract:
  8. In this study design of controller for a nonlinear system in the presence of state observer was investigated. First, nonlinear observers including non-adaptive and adaptive versions and their design procedures were studied. Then nonlinear adaptive controllers, based on sliding mode, feedback linearization and back-stepping techniques were implemented in the presence of observer dynamics. Two versions of adaptive law were proposed for unknown parameters identification in feedback linearization and sliding mode techniques. A new adaptive law was proposed to relax the restrictive condition that is used in adaptive observer design. The closed loop stability of back stepping technique was studied in the presence of nonlinear behavior of input saturation.Finally, the effectiveness of the proposed controllers was illustrated for a continuous bioreactor that has uncertain parameters in its dynamical model. The controller parameters were selected based on minimization of an objective function. Simulation results indicate that sliding mode controller has a better output tracking performance compared to other controllers and all proposed controllers are robust to model uncertainties
  9. Keywords:
  10. Saturation ; Sliding Mode ; Adaptive Control ; Feedback Linearization ; State Observer ; Back-Stepping Method

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