[nonlinear control theory]8_ Comparison of three robust controllers

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Comparison of three robust controllers

1. It's also the homework of last class , Make a simulation comparison of the three controllers .

2. The performance of the controller is mainly analyzed from two perspectives , One is error , Including steady-state error , Convergence rate of error . Another is input , Transient input and steady state input .

3. contrast high-gain,ε=0.1 and ε = 1.

   • For errors ,ε=0.1 Than ε = 1, Many small .
   • For input ,ε=0.1 Than ε = 1, The transient input is very large , Steady state input is also large

4. For errors , The smaller the steady-state error , Higher score

5. For input , The smaller the input , Higher score

6. Score table of each dimension , Radar chart showing combat effectiveness .

[ Nonlinear control theory ]5_ Adaptive controller (Adaptive controller)

[ Nonlinear control theory ]4_ Feedback linearization _ backstepping

[ Nonlinear control theory ]3_ Design of basic feedback stabilizing controller
[ Nonlinear control theory ]2_ Invariance principle
[ Nonlinear control theory ]1_Lyapunov Direct method