Robust nonlinear controller based on set propagation

• Main Author: Fish, Garron A
• Other Authors: Attfield, Malcom
• Format: Dissertation
• Language: English
• Published: University of Cape Town 2014
• Subjects: Electrical Engineering
• Online Access: http://hdl.handle.net/11427/5222

Bibliography: leaves 74-[76.] === A novel control method, based on interval analysis, that optimises the control surface (or u-surface) for sampled systems with output disturbances is demonstrated on a driven pendulum with actuator constraints. The fitness function to be maximized is the probability of each state of the system being controlled to the setpoint without being perturbed to regions that are more iterations away from the setpoint. The u-surface is designed by finding all the states that could go to the setpoint in an interval and optimising these states. This process is repeated (backwards in time) by optimising states that go to the previously optimised states until no more states that have not been optimised are found. The proposed control method has been applied to the problem of swinging up a driven pendulum from rest to the inverted position with constraints on the torque of the motor. This method is computationally intensive and time constraints limit its current application to systems of low order.