On-line direct control design for nonlinear systems
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Author / Producer
Date
2015-11
Publication Type
Conference Paper
ETH Bibliography
yes
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Abstract
An approach to design a feedback controller for nonlinear systems directly from experimental data is presented. Improving over a recently proposed technique, which employs exclusively a batch of experimental data collected in a preliminary experiment, here the control law is updated and refined during real-time operation, hence enabling an on-line learning capability. The theoretical properties of the described approach, in particular closed-loop stability and tracking accuracy, are discussed. Finally, the experimental results obtained with a water tank laboratory setup are presented.
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published
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Book title
17th IFAC Symposium on System Identification, SYSID 2015. Proceedings
Journal / series
Volume
48 (28)
Pages / Article No.
144 - 149
Publisher
Elsevier
Event
17th IFAC Symposium on System Identification (SYSID 2015)
Edition / version
Methods
Software
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Date created
Subject
Data-driven control; Nonlinear systems; Direct control; Dynamic inversion; Stability
Organisational unit
03416 - Morari, Manfred (emeritus)