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This paper concerned the theoretical design and the experimental test of a simple nonlinear proportional controller. The controller is based on a gain scheduling approach, in which a model-based procedure is used to define the switching policy. The design procedure has been applied to a position control loop based on an AC electrical motor. Results from the experimental tests show that nonlinear controller...
This paper presents a robust nonlinear generalized predictive control (RNGPC) strategy applied to a permanent magnet synchronous motor (PMSM) for speed trajectory tracking and disturbance rejection. The nonlinear predictive control law is derived by using a newly defined design cost function. The Taylor series expansion is used to carry out the prediction in a finite horizon. No information about...
Recursively designed internal models have been extensively applied in the output regulation problem for lower-triangular systems. In particular, one internal model component is constructed at each step to compensate for the steady state of one plant state (or input). This design method is simple with the potential expense of high dimension when some components are duplicate. This paper proposes a...
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