An iterative system inversion technique

DOI10.1002/1099-1115(200102)15:1%3C85::AID-ACS632%3E3.0.CO;2-JMaRDI QIDQ2708071zbMATH OpenFDO

Authors Riccardo Carotenuto

Publication date 7 November 2001

Published in International Journal of Adaptive Control and Signal Processing (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1002/1099-1115(200102)15:1%3C85::AID-ACS632%3E3.0.CO;2-J

zbMATH Keywords

difference equationdiscrete SISO systemiterative inversion algorithmsystem inverse

Mathematics Subject Classification ID

Nonlinear systems in control theory (93C10) Discrete-time control/observation systems (93C55)

Review text

A generic discrete-time single-input-single-output system described by the following difference equation NEWLINE\[NEWLINE y(k+1) = F[y(k), \dots , y(k-m), u(k-d+1), \dots , u(k-d-n+1)] NEWLINE\]NEWLINE is under consideration. The inverse of \(F\), in case it is realizable and stable, is NEWLINE\[NEWLINE u(k-d+1) = F^{-1}[y_d (k+1), y(k), \dots , y(k-m), u(k-d), \dots , u(k-d-n+1)]. NEWLINE\]NEWLINE The proposed solution to the inversion problem is based on the following iteration NEWLINE\[NEWLINE u(k-d+1)_{i+1} = u(k-d+1)_i + \alpha e(k+1)_i, NEWLINE\]NEWLINE where \(u(k-d+1)\) is the control signal at time \(k-d+1, e(k+1)_i = y_d(k+1) - y(k+1)_i\) is the error signal at time \(k+1\) caused by \(u(k-d+1)_i\), and the subscript \(i\) is the iteration index. Computer simulations show the feasibility of the inversion technique which gives good results using practical amounts of memory.

Recommendations

• Stable inversion for nonlinear discrete-time systems
• Some inversion algorithms for discrete systems
• Inversion of linear systems on the basis of state space realization
• Inversion of linear delay dynamical systems
• On the inversion problem for nonlinear systems

Cites work

• A New Approach to Manipulator Control: The Cerebellar Model Articulation Controller (CMAC)
• Data Storage in the Cerebellar Model Articulation Controller (CMAC)
• Neural networks for nonlinear internal model control
• Stable control of nonlinear systems using neural networks

Cited in

(2)

• An iterative method and its application to stable inversion
• Improvements in stable inversion of NARX models by using Mann iteration

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