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On - Line Direct Control Design for Nonlinear Systems

Author(s):

M. Tanaskovic, L. Fagiano, Carlo Novara, M. Morari
Conference/Journal:

IFAC Symposium on System Identification, Beijing, China, pp. 144-149
Abstract:

An approach to design a feedback controller for nonlinear systems directly from experimental data is presented. Improving over a recently proposed technique, which employs exclusively a batch of experimental data collected in a preliminary experiment, here the control law is updated and re ned during real-time operation, hence enabling an on-line learning capability. The theoretical properties of the described approach, in particular closed-loop stability and tracking accuracy, are discussed. Finally, the experimental results obtained with a water tank laboratory setup are presented.

Year:

2015
Type of Publication:

(01)Article
Supervisor:



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% Autogenerated BibTeX entry
@InProceedings { TanEtal:2015:IFA_5294,
    author={M. Tanaskovic and L. Fagiano and Carlo Novara and M. Morari},
    title={{On - Line Direct Control Design for Nonlinear Systems}},
    booktitle={IFAC Symposium on System Identification},
    pages={144--149},
    year={2015},
    address={Beijing, China},
    month=oct,
    url={http://control.ee.ethz.ch/index.cgi?page=publications;action=details;id=5294}
}
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