Decoupling Control Based on Dynamic Surface Control for MIMO Nonlinear Systems

Abstract

A dynamic surface controller (DSC) is designed for a class of MIMO nonlinear systems. Firstly, the nonlinear system is transformed into a new system, which is viewed as a Parallel system composed of nominal system and its disturb system in induced by coupling, secondly, DSC are designed according to each system in ordered to synthesize the expectation control law, finally, ultimate control law is induced by the principle of least squares and Taylor series. Theoretical analysis gives the whole system stability.