Controlling nonlinear time-varying systems via euler approximations

Abstract

A discrete time model reference control algorithm for continuous time systems represented by essentially unknown nonlinear time-varying ordinary differential equations is presented and analysed. Provided the reference model and the inverse dynamics of the plant are bounded input bounded output stable it is shown that a discrete control using state measurements based on Euler approximations for the systems response can achieve arbitrary tracking accuracy. The effect of unmodelled dynamics and disturbances is analysed. © 1992.