A Computer Aided Software for Nonlinear Digital Control

2011 13th International Symposium on Symbolic and Numeric Algorithms for Scientific Computing Pub Date : 2011-09-26 DOI:10.1109/SYNASC.2011.42

V. Tanasa, D. Normand-Cyrot

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Abstract

The aim of this paper is to provide a basic software tool involved in the design and the computation of nonlinear digital control schemes. The complete software SimNLSys will include different modules associated with each control scheme, aimed with respective objectives such as stabilization, damping, output matching or optimality, to quote a few. The software module presented here also encompasses the goal of computing solutions to nonlinear ODE's describing input-affine dynamics. The underlying methodologies propose challenging nonlinear sampled-data control strategies described in terms of Lie series expansions and computable through formal series calculus. The goal is to reach a friendly graphical user interface, to promote the practical efficiency of such strategies. For this, SymNLSys is built using the symbolic Matlab toolbox and the resulting mathematical control law expressions can be implemented directly on experimental plants. The paper describes the used differential geometric methods and discusses the implementation and limitations of the symbolic and numerical algorithms. Also some results obtained via this software are provided.

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非线性数字控制的计算机辅助软件

本文的目的是为非线性数字控制方案的设计和计算提供一个基本的软件工具。完整的软件SimNLSys将包括与每个控制方案相关的不同模块，旨在实现各自的目标，例如稳定，阻尼，输出匹配或最优性，仅举几例。这里介绍的软件模块还包含了非线性ODE描述输入仿射动力学的计算解决方案的目标。潜在的方法提出了具有挑战性的非线性采样数据控制策略，该策略以李级数展开和可通过形式级数微积分计算来描述。目标是达到一个友好的图形用户界面，以促进这种策略的实际效率。为此，使用符号Matlab工具箱构建了SymNLSys，得到的数学控制律表达式可以直接在实验植物上实现。本文介绍了常用的微分几何方法，并讨论了符号算法和数值算法的实现和局限性。并给出了通过该软件得到的一些结果。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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2011 13th International Symposium on Symbolic and Numeric Algorithms for Scientific Computing

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