Additive-State-Decomposition-Based Tracking Control for TORA Benchmark

TL;DR

This paper introduces an additive state decomposition control method for the TORA system, effectively handling nonlinear tracking problems by splitting them into simpler linear and nonlinear subtasks, avoiding complex regulation equations.

Contribution

It proposes a novel additive state decomposition approach that simplifies nonlinear tracking control for the TORA benchmark, enabling handling of external signals without solving regulation equations.

Findings

Successfully tracks nonlinear signals in TORA system

Avoids solving regulation equations for control design

Demonstrates effectiveness through numerical simulation

Abstract

In this paper, a new control scheme, called additive state decomposition based tracking control, is proposed to solve the tracking (rejection) problem for rotational position of the TORA (a nonlinear nonminimum phase system). By the additive state decomposition, the tracking (rejection) task for the considered nonlinear system is decomposed into two independent subtasks: a tracking (rejection) subtask for a linear time invariant (LTI) system, leaving a stabilization subtask for a derived nonlinear system. By the decomposition, the proposed tracking control scheme avoids solving regulation equations and can tackle the tracking (rejection) problem in the presence of any external signal (except for the frequencies at +1 or -1) generated by a marginally stable autonomous LTI system. To demonstrate the effectiveness, numerical simulation is given.