Data-Driven Inversion-Based Control: closed-loop stability analysis for MIMO systems

TL;DR

This paper extends Data-Driven Inversion-Based Control (D2-IBC) to MIMO systems, providing a finite-gain stability condition for uncertain nonlinear plants with a dual-controller architecture.

Contribution

It generalizes previous SISO results to MIMO systems, establishing a new stability criterion for the D2-IBC control scheme in complex multi-input multi-output settings.

Findings

Derived a finite-gain stability condition for MIMO systems with D2-IBC

Extended the theoretical framework from SISO to MIMO systems

Provided insights into closed-loop stability for uncertain nonlinear plants

Abstract

Data-Driven Inversion-Based Control (D$^{2}$-IBC) is a recently introduced control design method for uncertain nonlinear systems, relying on a two degree-of-freedom architecture, with a nonlinear controller and a linear controller running in parallel. In this paper, extending to the MIMO case a previous result holding for the SISO case, we derive a finite-gain stability sufficient condition for a closed-loop system formed by a nonlinear MIMO plant, connected in feedback with a D$^{2}$-IBC controller.