Abstract
In this paper, we introduce the Data-Driven Inversion-Based Control (D2-IBC) method for nonlinear control system design. The method relies on a two degree-of-freedom architecture, with a nonlinear controller and a linear controller running in parallel, and does not require any detailed physical knowledge of the plant to control. Specifically, we use input/output data to synthesize the control action by employing convex optimization tools only. We show the effectiveness of the proposed approach on a simulation example, where the D2-IBC performance is also compared to that of the Direct FeedbacK (DFK) design approach, a benchmark method for nonlinear controller design from data.
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