Feedback Linearization Control
This example shows the simulation of a non-linear control system from [1] with feedback linearization control technique using
QFIRE Studio
.Introduction
The non-linear plant is described by:
The dynamic system equations are written in a block diagram as shown in Figure 1.
Figure 1 - Non-linear plant block diagram
Simulation
A feedback linearization control law with non-linear terms can be used to stabilize the plant. Figure 2 shows the block diagram with the implementation.
Figure 2 - Non-linear controller diagram
Figure 3 - Non-linear control system
Figure 4 shows the closed-loop system with the non-linear plant and corresponding control law, starting from the initial state
Figure 4 - State 1 (blue) and state 2 (orange)
The (unconstrained) control signal amplitude prior to conversion to analog can be observed in Figure 5.
Figure 5 - Control signal
Bibliographic References
[1] Härkegårds O., 2003.
BACKSTEPPING AND CONTROL ALLOCATION WITH APPLICATIONS TO FLIGHT CONTROL
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