Nonlinear Extensions of Classical Controllers Using Symbolic Computation Techniques: A Dynamical Systems Unifying Approach

Abstract

AbstractIn previous works we reported the development of symbolic computation tools to automate the design of nonlinear state feedback controllers [1], nonlinear PID controllers [2], nonlinear lag‐lead compensators [3], and nonlinear obsevers [4] using the extended linearization method [5]. In this paper we show that a careful analysis of the state variables representation of these classical controllers indicates that all of them are particular cases of the nonlinear extension of a mth order linear filter, consisting of a kth order input derivative operator followed by an output mth order linear dynamical system. Using this two blocks decomposition approach, the design of nonlinear extensions of nth order controllers can be decomposed into two independent subalgorithms: a kth order PD controller algorithm, and a mth order state vector feedback algorithm. Hence, an appropriate, assembly of our symbolic computation tools NL Feedback and NLPID could, in principle, allow to use the extended linearization method to synthesize nonlinear extension of arbitrary nth order linear filter (controllers).