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A methodology for designing robust multivariable nonlinear control systemsA new methodology is described for the design of nonlinear dynamic controllers for nonlinear multivariable systems providing guarantees of closed-loop stability, performance, and robustness. The methodology is an extension of the Linear-Quadratic-Gaussian with Loop-Transfer-Recovery (LQG/LTR) methodology for linear systems, thus hinging upon the idea of constructing an approximate inverse operator for the plant. A major feature of the methodology is a unification of both the state-space and input-output formulations. In addition, new results on stability theory, nonlinear state estimation, and optimal nonlinear regulator theory are presented, including the guaranteed global properties of the extended Kalman filter and optimal nonlinear regulators.
Document ID
19870002134
Acquisition Source
Legacy CDMS
Document Type
Thesis/Dissertation
Authors
Grunberg, D. B.
(Massachusetts Inst. of Tech. Cambridge, MA, United States)
Date Acquired
September 5, 2013
Publication Date
September 1, 1986
Subject Category
Systems Analysis
Report/Patent Number
NAS 1.26:179891
LIDS-TH-1609
NASA-CR-179891
Accession Number
87N11567
Funding Number(s)
CONTRACT_GRANT: NAG2-297
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.
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