Non-Linear Control for Uncertain Systems

Abstract

This paper presents a review of a number of state-of-the-art non-linear control design techniques which may be readily applied to solve practical problems in a robust fashion. It is first shown that non-linear controllers may be designed using straightforward linear models with minimal recourse to abstract mathematical concepts. More involved philosophies for robust control system design of inherently non-linear plants are then briefly described. A straightforward yet rigorous design framework is then presented to implement the philosophy. Tutorial examples are presented throughout the paper in order to illustrate major points of interest.