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U of M College of Engineering Control Seminar Series Sponsored by Ford Motor Company, General Motors, and Whirlpool |
Regulation of Nonlinear Systems Using
Conditional Integrators
Professor Hassan K. Khalil
Department of Electrical and Computer Engineering
Michigan State University
Achieving
asymptotic regulation in the presence of constant disturbances and parameter
uncertainty requires the use of integral action. This is usually achieved at
the expense of degrading the transient performance. In this talk we describe
the newly developed tool of conditional integrators. The tool, which is
developed in the framework of continuous sliding mode control, enables us to
achieve asymptotic regulation while recovering the transient performance of
ideal (discontinuous) sliding mode control. We also summarize how the tool has
been extended to sinusoidal disturbances and to control designs other than
sliding mode.
3:30 – 4:30 p.m.