Improving Quality of Regulation of a Nonlinear MIMO Dynamic Plant

P. Dworak, M. Brasel


The paper presents a robust two-degrees of freedom control system for a multi-input, multi-output (MIMO) nonlinear dynamic process. There are discussed the advantages of the model following control (MFC) structure for MIMO systems, its stability and robustness properties and a method for synthesis of a multi‑controller structure of the MFC model loop. The problems under study are exemplified by synthesis of a position and yaw angle control system for a 3DOF nonlinear mathematical model of a drillship, where the MFC structure is used to reduce effects of the impact of the sea current and wind forces on the ship's hull.



Nonlinear systems; modal controllers; multi-controller structure; MFC; MIMO

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Print ISSN: 1392-1215
Online ISSN: 2029-5731