DEVELOPMENT OF A DYNAMIC OUTPUT-FEEDBACK REGULATOR FOR STABILIZATION AND TRACKING OF NON-SQUARE MULTI-INPUT MULTI-OUTPUT SYSTEMS

📄 Project Abstract

This research work is aimed at the development of an observer-based dynamic output feedback controller for stabilization and tracking of nonlinear systems. The developed controller is designed after the immersion-invariance and internal model principle (IMP) frameworks and targets non-square systems such as rotational-translational actuator (RTAC), cart-driven inverted pendulum (CIP) and quadrotor unmanned aerial vehicle (UAV). However non-square multiple-input multiple-output (MIMO) systems such as the UAV represented the principal system of choice for their structural properties. Non-square MIMO systems are systems that have more inputs than outputs (over-actuated) or vice-versa (under-actuated) and reflect the structures of many real world systems. The developed immersion invariance error feedback control law(IIEFCL) is used to solve stabilization and robust tracking problems of non-square MIMO non-linear systems. The output feedback internal model based observer is developed and te...