Nonlinear Controller Design via Inferenced-Augmentation of Equivalent Linearized System


nonlinear dynamics
steady state
control systems
hierarchical control

How to Cite

EseOghene, O., D., C. F., & M., A. C. (2019). Nonlinear Controller Design via Inferenced-Augmentation of Equivalent Linearized System. IJID (International Journal on Informatics for Development), 8(1), 28–34.


Output compensation of nonlinear system response is studied in this work with an inference-based design method used to control the nonlinear dynamics in the presence of non-linear effects. This design which is driven by practical considerations is informed by the comparisons made between nonlinear models and their linearized derivatives. While a detailed mathematical route has not been followed here, the results seem to show the workability of the proposed method and at its core, the design is driven by its intuitiveness. The proposed technique utilizes as primary parameter for comparison, the steady state error term which is derived from the behavior of the linear dynamics. Possible application areas for this design is in reduced energy control of nonlinear systems. The method was tested in simulation on a generic nonlinear system and a cart-driven inverted pendulum benchmark system.


P.V. Kokotovic, and M. Arcak, “Nonlinear and Adaptive Control: An Abbreviated Status Report”. The 9th Mediterranean Conference on Control and Automation Dubrovnik, Croatia, June 2001

O. H. Bosgra, H. Kwakernaak, G. Meinsma, “Design Methods for Control Systems,” Notes for a course of the Dutch Institute of Systems and Control (DISC), Winter term 2007–2008

P. V. Kokotovic, “The Joy of Feedback: Nonlinear and Adaptive,” Bode Prize Lecture IEEE Control Systems, 1992.

M. Hamerlain, “Robust control with reduced knowledge of unmodeled dynamics using sliding mode application to robot manipulators,” IEEE conference, pp: 261-268.1995

M. Krstic, J. Sun, and P.V. Kokotovic, “Robust Control of Nonlinear Systems with Input Unmodeled Dynamics,” IEEE Transactions on Automatic Control, VOL. 41, NO. 6, JUNE 1996

J. J. E. Slotine, & W. Li, “Applied nonlinear control,”Prentice-Hall Inc, 1991.

R. M. Hirschorn, “Invertibility of Nonlinear Control Systems,” Siam J. Control and Optimization Vol. 17, No. 2, March 1979

T. Marlin, “Process control: designing process and control systems for dynamic performance,” Chapter 13, (Feedback performance), pp 410. 2013.

A. Mesbah, A. E.M. Huesman, H. J. M. Kramer and P. M. J. Van den Hof, “A Comparison of Nonlinear State Estimators for Closed-loop Control of Batch Crystallizers,” Proceedings of the 9th International Symposium on Dynamics and Control of Process Systems (DYCOPS 2010), Leuven, Belgium, July 5-7, 2010.

D. Astolfi and L. Marconi. “A High-Gain Nonlinear Observer with Limited Gain Power,”

N. Sakamoto, B. Rehak, K. Ueno, “Nonlinear Luenberger observer design via invariant manifold computation,”Preprints of the 19th World Congress. The International Federation of Automatic Control Cape Town, South Africa. August 24-29, 2014

D. Carnevale, S. Galeani, M. Sassano and A. Astolfi, Nonlinear Observer Design Techniques with Observability Functions52nd IEEE Conference on Decision and Control December 10-13, 2013. Florence, Italy

S. Vaidyanathan, Local Observer Design for Nonlinear Control Systems around Equilibria, International Journal of Computer Science, Engineering and Applications (IJCSEA), 2012.

D. Seto and L. Sha, “A Case Study on Analytical Analysis of the Inverted Pendulum Real-Time Control System,” Technical Report CMU/SEI-99-TR-023, ESC-TR-99-023 November 1999

A. Ball, “Robust Control of an Inverted Pendulum on a Cart,” ME/ECE 854 Robust Control Final Project Due: April 29, 2007

Unknown, “Control Systems Lab (SC4070) Inverted Pendulum Experiment,” (ND)

Creative Commons License
IJID (International Journal on Informatics for Development) is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License