Robust SISO H controller design for nonlinear systems

Grant A. Ingram, Matthew A. Franchek, Venkataramanan Balakrishnan, Gopichandra Surnilla

Research output: Contribution to journalArticlepeer-review

14 Scopus citations


Presented in this paper is a nonlinear SISO controller design methodology for a class of Hammerstein models. The design process is composed of standard system identification techniques integrated with an H linear controller synthesis formulation. The system identification portion of this work first identifies the static, single-valued nonlinearity capturing the nonlinear behavior of the system. This nonlinearity is then inverted and serves as a precompensator to the system input. The frequency response function is then identified with the precompensator in place to capture the linear dynamics of the system. Errors associated with the nonlinear inversion are addressed in an unstructured uncertainty formulation. A robust H controller is synthesized using the identified uncertain Hammerstein model and a systematic performance weighting selection process for a class of L constraints. Closed-loop performance and stability are assessed via sector bounds quantifying the maximum allowable precompensator error. Frequency domain conditions guaranteeing an L2 output provided the system input belongs to L2 are also presented. To illustrate the procedure, the design methodology is applied to synthesize a robust feedback controller to regulate the mass air flow of a 4.6 L V8 spark ignition engine equipped with an electronic throttle.

Original languageEnglish (US)
Pages (from-to)1413-1423
Number of pages11
JournalControl Engineering Practice
Issue number11
StatePublished - Nov 2005


  • Control system analysis
  • Control system design
  • Engine control
  • H-infinity control
  • Nonlinear models
  • Robust control
  • Weighting functions

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Industrial and Manufacturing Engineering


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