Abstract
The disturbance compensation algorithm for continuous-time multi input multi output (MIMO) nonlinear plants under parametric uncertainties and external disturbances with quantized output signal is proposed. The auxiliary loop approach is used for estimation disturbance function. The proposed algorithm guarantees that the output of the plant tracks the reference output with the required accuracy. The experimental results on non-linear twin rotor MIMO system illustrate the efficiency and robustness of the suggested control system.
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Acknowledgement
This work was partially financially supported by Government of Russian Federation, Grant 074-U01. This work was supported by the Ministry of Education and Science of Russian Federation (Project 14.Z50.31.0031). The work was supported by the Russian Federation President Grant (No. MD-6325.2016.8). This work was supported by the Russian Federation President Grant 14.Y31.16.9281.
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Margun, A., Furtat, I., Bazylev, D., Kremlev, A. (2018). Disturbance Compensation and Control Algorithm with Application for Non-linear Twin Rotor MIMO System. In: Březina, T., Jabłoński, R. (eds) Mechatronics 2017. MECHATRONICS 2017. Advances in Intelligent Systems and Computing, vol 644. Springer, Cham. https://doi.org/10.1007/978-3-319-65960-2_53
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DOI: https://doi.org/10.1007/978-3-319-65960-2_53
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