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What is InversionBased Control Input Output Consider a System  My Nephew Let the desired What is InversionBased Control Input Output Consider a System  My Nephew Let the desired

What is InversionBased Control Input Output Consider a System My Nephew Let the desired - PDF document

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What is InversionBased Control Input Output Consider a System My Nephew Let the desired - PPT Presentation

Input 1 Desired Output Invert System Model Prior Knowledge brPage 5br The InversionProblem Input Desired Output Invert the known system model 0 to find input Input 1 Desired Output Invert System Model Prior Knowledge His Mom knows how she ha ID: 25166

system output model input output system input model desired page feedforward invert 57347 57355 knowledge inversion control prior feedback

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What is Inversion-Based Control? InputOutputConsider a System --- My NephewLet the desired output be, say, eat dinner! What is Inversion-Based Control? InputOutput = YdLet the desired output be, say, eat dinner!Question: What input should you apply?negotiate, encourage, ???) What is Inversion-Based Control? InputOutput = YdLet the desired output be, say, eat dinner!Question: What input should you apply?negotiate, encourage, bribe always works for me !) The Inversion-Problem Input =?Desired OutputInvert the known system model (G0 ) to find input.Input = G0-1 [ Desired Output]InvertPrior Knowledge The Inversion-Problem &#x/MCI; 14;&#x 000;&#x/MCI; 14;&#x 000;Invert&#x/MCI; 15;&#x 000;&#x/MCI; 15;&#x 000;System &#x/MCI; 16;&#x 000;&#x/MCI; 16;&#x 000;Model&#x/MCI; 17;&#x 000;&#x/MCI; 17;&#x 000;Prior Knowledge&#x/MCI; 18;&#x 000;&#x/MCI; 18;&#x 000;(His Mom know’s how --- she has a reasonable model The Control method using InversionUse Inverse input as the feedforward input to systemPrior KnowledgeActual System InputOutput InvertSystem Desired System Nonminimum Phase System Inverse: S. Devasia, D. Chen and B. Paden “Nonlinear Inversion-Based Output Tracking,” IEEE Transactions on Automatic Control, Vol. 41 (7), Feedforward is Common in Human SystemsPrior KnowledgeActual System InputOutput InvertSystem Desired System G0-1GExamples: Walking, Playing Baseball, Driving a Car Problem --- model uncertainty InputOutput InvertSystem Desired System G0-1G Resolution: Addition of FeedbackExploit knowledge of the system through feedforward inputAccount for errors (uncertainties, perturbations) using feedback Input InvertDesired System K +-++ ObservationOutputPrior KnowledgeActual SystemG0-1G -G InputOutput Invert Lousy Desired System K +-++ KnowledgeObservation G0-1G Feedforward under Uncertainty? InputOutput G0-1Desired Output SystemG C(s) Ref: S. Devasia, “Should Model-based Inverse Inputs be used as Feedforward under -G • Key Idea: Feedforward Input is found using System Inversion (1) Feedforward input uses system knowledge to control the output(2) Feedforward should be integrated with feedback (3) Performance better than the use of feedback alone if uncertainty is not too large |G0 Re-Cap InputOutput InvertSystem ModelDesired Output G0-1G