Prescribed performance controller with affine equivalent model for a class of unknown nonlinear discrete-time systems

ABSTRACT

The prescribed performance control is established for a class of unknown nonlinear discrete-time systems. The affine equivalent model is utilised for both positive and negative control directions by fuzzy-rules emulated networks. The tracking error converges to a small residual boundary inaugurated under prescribed performance according to model error and uncertainties. Furthermore, the robust gain developed by the proposed controller enhances the closed-loop performance over the unknown but bounded disturbance. The validation of the proposed scheme is verified by simulation results and the experimental system.

Keywords:

• Affine equivalent model
• prescribed performance control
• discrete-time systems

Disclosure statement

No potential conflict of interest was reported by the author(s).

Additional information

Funding

This work has been supported by Mexican Research Organization Consejo Nacional de Ciencia y Tecnología (CONACyT) grant # 257253 and PROMEP # 165274.

Notes on contributors

C. Treesatayapun

C. Treesatayapun received the Ph.D. in electrical engineering from Chiang-Mai University, Thailand, in 2004. He was a production engineer at SAGA Electronics (JRC-NJR) from 1998-2000 and was a head of electrical engineering program at North Chiang-Mai University, Thailand from 2001–2007. He is currently a senior researcher at Department of Robotic and Advanced Manufacturing, Mexican Research Center and Advanced Technology, CINVESTAV-IPN, Saltillo campus, Mexico. His current research interests include automation androbotic system control and optimization, adaptive and learning algorithms and electric machine drive.