Abstract
In this paper, operator based robust nonlinear control for single-input single-output U+0028 SISO U+0029 and multi-input multi-output U+0028 MIMO U+0029 nonlinear uncertain systems preceded by generalized Prandtl-Ishlinskii U+0028 PI U+0029 hysteresis is considered respectively. In detail, by using operator based robust right coprime factorization approach, the control system design structures including feedforward and feedback controllers for both SISO and MIMO nonlinear uncertain systems are given, respectively. In which, the controller design includes the information of PI hysteresis and its inverse, and some sufficient conditions for the controllers in both SISO and MIMO systems should be satisfied are also derived respectively. Based on the proposed conditions, influence from hysteresis is rejected, the systems are robustly stable and output tracking performance can be realized. Finally, the effectiveness of the proposed method is confirmed by numerical simulations.
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