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Observer-Based Controller Design for Nonlinear Fractional Order Systems

Rahmani Nooshabadi, Ali | 2021

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 54495 (06)
  4. University: Sharif University of Technology
  5. Department: Chemical and Petroleum Engineering
  6. Advisor(s): Shahrokhi, Mohammad
  7. Abstract:
  8. In this study, an adaptive controller design for nonlinear fractional order systems in the strict-feedback form has been investigated. The system is subject to unknown dynamics, unmeasured state variables, quantized input and output, and input nonlinearity. A linear observer is used to solve the problem of unmeasured state variables. The fuzzy logic system is used to estimate the unknown functions, and instead of updating all the regressor weights, only the upper bound of their norms is updated, which significantly reduces the computational load. In the controller design, limitations due to the bandwidth of data transmission have been considered by applying quantizers in the input and output of the system. In addition, the constraints of input nonlinearities, including saturation, backlash, hysteresis and dead-zone inputs, have been considered in the stability analysis.In the controller design, the adaptive back-stepping approach and direct Lyapunouv stability analysis method have been used, and it has been shown that the tracking and state estimation errors converge to a small neighborhood of the origin. Finally, the control performance of the proposed controller has been demonstrated via two examples
  9. Keywords:
  10. Observer ; Input Nonlinearity ; Input Quantization ; Nonlinear Fractional Order System ; Quantized Input and Output ; Strict Feedback System ; Fractional Order Controller ; State Observer

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