General Integral Control Design via Feedback Linearization
- 1 Academe of Naval Submarine, Qingdao, China
- 2 Academe of Naval Submarine, Qingdao, China
- 3 Academe of Naval Submarine, Qingdao, China
Abstract
Based on the feedback linearization technique, we present a systematic design method for the General Integral Control and a new integral control strategy along with a class of fire-new integrator. By using the linear system theory and Lyapunov method along with LaSalle’s invariance principle, the conditions on the control gains to ensure regionally as well as semi-globally asymptotic stability are provided. Theoretical analysis and simulation results demonstrated that: by using this design method, General Integral Control can deal with nonlinearity and uncertainties of dynamics more effectively; the optimum response can be achieved in the whole control domain, even under uncertain payload and varying-time disturbances. This means that General Integral Control has strong robustness, fast convergence, good flexibility, and then makes the engineers design a high performance controller more easily.
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