A MATLAB toolkit for composite nonlinear feedback -- improving transient response in tracking control

Key words:  Nonlinear control  Actuator saturation  Tracking control  Computer-aided design

摘要:

Abstract:

We present in this article a MATLAB toolkit with a user-friendly graphical interface for composite nonlinear feedback control system design. The toolkit can be utilized to design a fast and smooth tracking controller for a class of linear systems and nonlinear systems with actuator and other nonlinearities as well as with external disturbances. The parameters of the controller can be tuned easily on the user panel or autotuned by the toolkit. The toolkit is capable of displaying both time-domain and frequency-domain responses on its main panel and generating three different types of control laws, namely, the state feedback, the full-order measurement feedback and the reduced-order measurement feedback controllers. The usage and design procedure of the toolkit are illustrated by practical examples on a rotational/translational actuator (RTAC) system and a hard disk drive servo system. The toolkit can be utilized to design servo systems that deal with point-and-shoot fast targeting.