کنفرانس مهندسی برق ایران

صفحه اصلی / سی و سومین کنفرانس بین المللی مهندسی برق

Improved Equivalent Input Disturbance Control of Nonlinear Aeropendulum System Using Data-Driven Approach

نویسندگان :

Mohammad Hossein Bayati¹ Arman Marzban² Mahsan Tavakoli-Kakhki³ Ali Naseh⁴

1- K.N.Toosi University of Technology 2- K.N.Toosi University of Technology 3- K.N.Toosi University of Technology 4- K.N.Toosi University of Technology

کلمات کلیدی :

Improved equivalent input disturbance (IEID)،Disturbance rejection،Uncertainty،Data-Driven،Willems’ Fundamental Lemma

چکیده :

This paper addresses the control problem of an uncertain system subjected to external disturbances. To this end, the Improved Equivalent-Input-Disturbance (IEID) approach is employed, offering reduced sensitivity to measurement noise compared to the conventional EID method. In this approach, estimating the equivalent input disturbance and replicating the effect of external disturbances and uncertainties on the system output requires knowledge of the governing system equations. However, leveraging Willems’ fundamental lemma, an offline-estimated model that closely approximates the nominal system behavior is derived using input-state data, alleviating the need for precise system equations. The efficacy of the proposed method is validated through simulations conducted on the aeropendulum system under external disturbance conditions.