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Doctoral Thesis
DOI
https://doi.org/10.11606/T.3.2017.tde-21112017-075839
Document
Author
Full name
Paulo Sergio Pereira da Silva
E-mail
Institute/School/College
Knowledge Area
Date of Defense
Published
São Paulo, 1992
Supervisor
Committee
Leite, Vitor Marques Pinto (President)
Costa, Oswaldo Luiz do Valle
Oliva, Waldyr Muniz
Qualifik, Paul
Tonelli, Pedro Aladar
Title in Portuguese
Desacoplamento de perturbações por realimentação dinâmica regular para sistemas não-lineares afins.
Keywords in Portuguese
Controle (Teoria de sistemas e controle)
Desacoplamento de distúrbios
Realimentação dinâmica
Sistemas não lineares
Abstract in Portuguese
Neste trabalho, consideramos o problema de desacoplamento de perturbações por realimentação dinâmica regular do estado para sistemas não lineares afins. Utilizando a abordagem geométrica-diferencial, estabelecemos condições necessárias e suficientes de solução de tal problema. Mostramos que tais condições são baseadas na geometria de um sistema estendido, obtido pela colocação de integradores em série com as entradas do sistema original. Quando tal problema e solúvel, mostramos também que o algoritmo de extensão dinâmica permite a construção do compensador solução. Como um subproduto de tais técnicas, obtemos uma forma geométrica de determinação da estrutura algébrica no infinito, através da geometria do sistema estendido.
Title in English
Distrubance decoupling by regular dynamic feedback for nonlinear affine systems.
Keywords in English
Control theory
Disturbance decoupling
Dynamic feedback
Nonlinear control
Abstract in English
In this work we consider the Problem of Disturbance Decoupling by Regular Dynamic Feedback for the class of affine nonlinear systems. We use the so-called Differential Geometric Approach to derive the necessary and sufficient conditions for this problem's solution. We show that the solvability of this problem is governed by the geometry of an Extended System obtained by putting integrators in series with the inputs of the original system. When the necessary conditions are satisfied, we show that the well known dynamic extension algorithm can be used to construct a solution. We also show that the algebraic structure at infinity can be computed by geometric methods with the aid of the Extended System.
 
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Publishing Date
2017-12-05
 
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