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• W2886638763 abstract "This paper presents a linear, decoupled, robust output trajectory tracking controller, addressed as flat filtering controller (FFC), for a multiple input multiple output (MIMO) nonlinear differentialy flat systems. The flat filter only requires the outputs to be regulated with the help of a well tuned filter and a suitable linear combinations of the internal states of such filter. To illustrate the proposal, the Permanent Magnet Synchronous Motor (PMSM), which is a flat MIMO system with the angular position and the $i_{d}$ current as flat outputs, is considered. Although the control inputs are coupled, the controller is designed on the basis of a drastic simplification to a first and third order pure integration systems respectively with additive disturbances to be compensated. The robustness of the proposed scheme, with respect to ignored nonlinear state-dependent, endogenous, disturbances and, also, to independent unstructured exogenous disturbances, is verified via computer simulations as well as experimental results." @default.
• W2886638763 created "2018-08-22" @default.
• W2886638763 creator A5011197437 @default.
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• W2886638763 date "2018-06-01" @default.
• W2886638763 modified "2023-10-18" @default.
• W2886638763 title "On the Robust Flat-Filtering Control of MIMO nonlinear systems: The PMSM Experimental Case Study" @default.
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• W2886638763 doi "https://doi.org/10.23919/acc.2018.8431316" @default.
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