A robust and accurate disturbance damping control design for nonlinear dynamical systems

Abstract

The principle result of this paper is the following disturbance rejection control scheme for a class of nonlinear dynamical systems. By using the internal model principle, the problem of disturbance damping control is converted into a nonlinear quadratic regulator (NQR) problem for an undisturbed augmented system. Then, an iterative technique is designed to solve this NQR problem effectively. The proposed iterative method is also extended through the use of a nonlinear model predictive control in an offline framework. In this case and in the presence of unknown disturbances, the Lyapunov stability of the closed-loop system is guaranteed. Numerical simulations and comparative results verify the effectiveness of the proposed approach.