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ROBUST OUTPUT CONTROL FOR NONLINEAR MULTI-CHANNEL SYSTEMS

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The problem of robust output control for multiple-input multiple-output linear system under unknown mismatched bounded disturbances and parametric uncertainties is considered. The proposed control algorithm is based on a combination of two techniques: the backstepping method and the auxiliary loop method. An iterative procedure is described for synthesis of a decentralized control system with a specialized dynamical subsystem (auxiliary loop) included on each step to provide estimation and compensation of unknown inconsistent perturbations without the use of a strong feedback. Results of practical approbation of the developed algorithm using a real laboratory platform “Twin Rotor MIMO System” are presented.

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