A Unified Approach to Nonlinear Dynamic Inversion Control with Parameter Determination by Eigenvalue Assignment

Abstract

This paper presents a unified approach to nonlinear dynamic inversion control algorithm with the parameters for desired dynamics determined by using an eigenvalue assignment method, which may be applied in a very straightforward and convenient way. By using this method, it is not necessary to transform the nonlinear equations into linear equations by feedback linearization before beginning control designs. The applications of this method are not limited to affine nonlinear control systems or limited to minimum phase problems if the eigenvalues of error dynamics are carefully assigned so that the desired dynamics is stable. The control design by using this method is shown to be robust to modeling uncertainties. To validate the theory, the design of a UAV control system is presented as an example. Numerical simulations show the performance of the design to be quite remarkable.