Design Principles of Multi-Input Multi-Output Nonlinear Control Systems
In the previous chapter, the control design principle and algorithm for SISO affine nonlinear systems are elaborated. This type of systems has only one input, i.e. control variable u and one output y(t). As we know, however, multi-machine power systems are large nonlinear ones with multiple inputs and multiple outputs (MIMO). Take a system with m generator sets for example, if merely the excitation control problem is considered, there will be m control variables — excitation voltages; if the opening control of steam valves or water gates is also involved in addition to excitation control, there will be 2m control variables. The outputs may be the terminal voltage and rotor speed of each generator, thus the output number will also be 2m. If the control of Static Var Compensation devices and the DC transmission lines are also included, there will be more control variables and outputs. Besides electric power systems, a good many types of control systems such as industrial robot control system and aircraft automatic control system also belong to MIMO affine nonlinear systems. Of course, these systems are much more complicated than SISO systems in both modeling and algorithm. However, many of the basic concepts and design principles and approaches discussed in the previous chapters can be directly extended to MIMO nonlinear systems.
KeywordsNormal Form Design Principle State Feedback Integral Curve Nonlinear Control System
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