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Linealización entrada/salida de sistemas no lineales afines utilizando un filtro
La linealización Entrada/Salida (E/S), dentro del marco teórico del control geométrico, es una técnica madura para sistemas no lineales afines. Esta técnica cancela los términos no lineales de la planta, usando una retroalimentación de estado no lineal, y produce una dinámica E/S lineal para la planta.
En este artículo se muestra que un filtro D(s) puede utilizarse para linealizar sistemas no lineales afines en lugar de aplicar una retroalimentación de estado no lineal que requiere conocer las ecuaciones exactas de la planta, su grado relativo, y la medición completa del vector de estado. En este nuevo enfoque el único requisito es conocer el grado relativo del sistema no lineal afín.
References
Delgado, A. Input/Output linearization of control affine systems using neural networks. PhD Thesis, Cybernetics Department, Reading University - UK, 1996.
Delgado, A., Kambhampati, C. y Warwick, K. “Identification of nonlinear systems with a dynamic recurrent neural network,” Proceedings of the IV International Conference on ANNs, Cambridge, 1995, pp. 318 - 322.
____ “Dynamic recurrent neural network for system identification and control,” IEE Proceedings - Part D, 142, pp. 307 - 314, 1995.
____ “Stable linearization using multilayer neural networks,” Proceedings of the International Conference on Control, Exeter, 1996, pp. 194 - 198.
Isidori, A. Nonlinear Control Systems. Berlin: Springer - Verlag, 1989.
López, A. Estructura linealizante: Síntesis de la realimentación de estado utilizando polinomios. Proyecto de grado, Departamento de Ingeniería Eléctrica. Universidad Nacional de Colombia, Bogotá, 1998.
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