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Filtered Dynamic Inversion for Time Delay Systems

[+] Author Affiliations
Amir H. Ghasemi

University of Michigan, Ann Arbor, MI

Paper No. DSCC2016-9740, pp. V001T01A005; 6 pages
  • ASME 2016 Dynamic Systems and Control Conference
  • Volume 1: Advances in Control Design Methods, Nonlinear and Optimal Control, Robotics, and Wind Energy Systems; Aerospace Applications; Assistive and Rehabilitation Robotics; Assistive Robotics; Battery and Oil and Gas Systems; Bioengineering Applications; Biomedical and Neural Systems Modeling, Diagnostics and Healthcare; Control and Monitoring of Vibratory Systems; Diagnostics and Detection; Energy Harvesting; Estimation and Identification; Fuel Cells/Energy Storage; Intelligent Transportation
  • Minneapolis, Minnesota, USA, October 12–14, 2016
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-5069-5
  • Copyright © 2016 by ASME


This paper addresses the problem of command following for linear, multi-input multi-output, time delay systems using filtered dynamic inversion. The dynamic inversion control input is obtained for linear time-delay systems utilizing the ring framework. This control input is combined with a low-pass-filter to construct a high-gain-stabilizing controller. It is shown that the time-delay-filtered-dynamic-inversion (TD-FDI) uses output feedback, reference-model-input feed-forward, and only requires limited model information. Numerical simulations demonstrate that for sufficiently large choice of a single control parameter, TD-FDI makes the L of the command-following error arbitrarily small.

Copyright © 2016 by ASME



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