A controller design for a special class of nonlinear systems (Q5938949)

The authors consider the problem of controller design for the following special class of nonlinear systems: \[ \dot x = \Gamma(x)x + g(x) + B (\varphi(x) + \psi(x)u), \] where \(x\in\mathbb R^n\), \(u\in\mathbb R\). The \((n\times 1)\) matrix \(B\) and the function \(g(x)\) have the following structure: \[ B=\text{col} (0, \dots, 0, 1),\quad g(x)=\text{col} (g_1(x),\dots, g_{n-1}(x),0), \] with \(g_i(x) := g_i(x_1,\dots,x_i)\) for \(i = 1,\dots,n - 1\). The state dependent \((n\times n)\) matrix \(\Gamma(x)\) is as follows: \[ \Gamma(x)=\begin{pmatrix} 0&\gamma_1(x)&&0\\ \vdots&&\ddots&\\ &&&\gamma_{n-1}(x)\\ 0&&\hdots&0 \end{pmatrix} \] with \(\gamma_i(x) :=\gamma_i(x_1,\dots,x_i)\) for \(i= 1,\dots, n - 1\). The design consists of the construction of a similarity transformation which transforms the original system into a partly linear system. Part of the nonlinearities appearing in the transformed system is compensated by the controller. The effect of the remaining nonlinearities is made negligible by choosing appropriately the controller design parameters via a high gain approach. Consequently, the design is simple and easy to implement since it involves only some matrix computations. The design is applied to a synchronous generator to control the power angle at its equilibrium position. Simulation results are provided to show the performance of the controller.