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Feedback Linearization and Back Settping

This presentation summarizes a group's final year project on developing nonlinear controllers for nonlinear systems using feedback linearization and backstepping techniques. The group aims to design controllers for applications in areas like robotics and process control. They plan to study the control techniques through literature review, model a chosen system, design preliminary and backstepping controllers, analyze stability, simulate the controllers, and analyze and conclude the results. The presentation compares feedback linearization and backstepping, and provides examples of how each technique works.

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sungraiz ali
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© © All Rights Reserved
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Download as PPTX, PDF, TXT or read online on Scribd
73 views

Feedback Linearization and Back Settping

This presentation summarizes a group's final year project on developing nonlinear controllers for nonlinear systems using feedback linearization and backstepping techniques. The group aims to design controllers for applications in areas like robotics and process control. They plan to study the control techniques through literature review, model a chosen system, design preliminary and backstepping controllers, analyze stability, simulate the controllers, and analyze and conclude the results. The presentation compares feedback linearization and backstepping, and provides examples of how each technique works.

Uploaded by

sungraiz ali
Copyright
© © All Rights Reserved
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd
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Final Year Project Progress Presentation

2K20 – Session “First Presentation”

Department of Electrical Engineering 1


To design a feedback Linearization and
back stepping controller for nonlinear
systems with application.
Supervised by: Dr Engr Furqan Memon

Department of Electrical Engineering 2


Group Members

Sungraiz Ali –2k19-ELE-058 (2.69) (Group Leader)


Muhammad Ali-2k20-ElE-61(2.71)
Mushahid Hussain-2k20-ElE-88(2.93)
Muhammad Rashid-2k20-ElE-94(2.88)

Department of Electrical Engineering 3


Research Area
The research interest is basically depends upon the further study of
literature review and available resources.

Real-World Applications such as Robotics and Autonomous


Systems ,Power Electronics and Electric Drives, Biomedical Systems,
Industrial Process Control and Renewable Energy Systems.

Department of Electrical Engineering 4


Objectives
The main objective of this project is to develop a non liearn
controller in order to deal with real-time nonlinear systems
using the back-stepping and feedback linearization control
techniques.
“Feedback Linearization and Backstepping are two nonlinear
control techniques used for controlling nonlinear systems”.

These techniques have numerous applications


in various fields such as robotics, aerospace, and chemical
process control.

Department of Electrical Engineering 5


Backstepping technique:
“The back stepping technique allows the
control design to handle nonlinearities and uncertainties in the system,
aiming to achieve stability, performance, and robustness .”

By divide into a series of simpler, interconnected subsystems. Each


subsystem is associated with a Lyapunov function and ensuring the overall
stability of the entire system.

Department of Electrical Engineering 6


Comparison
Feedback Linearization Back stepping
• Feedback Linearization is simpler
to implement.
• Feedback Linearization can only
handle partially nonlinear systems.
• Feedback Linearization only
• Back stepping is complex to implement .
• Back stepping can handle fully nonlinear systems
requires one. • It requires the design of a series of Lyapunov functions

Department of Electrical Engineering 7


Linearization

Department of Electrical Engineering 8


Feedback Linearization Controller:
Feedback linearization is the process of determining a
feedback law and a change of coordinates that transform a
nonlinear system into a linear , controllable one and
Linearization of a non-linear equation allows the use of linear
equations

Department of Electrical Engineering 9


Research Methodology
 Problem Definition and Literature Review.
 System Modeling: Study and learning the mathematical model of
the chosen system, either in the form of differential equations or a
state-space representation.
 Preliminary Control Design: By selecting suitable Lyapunov
function a virtual control input to be used for stabilizing the system
and control law according to stability criteria.
 Backstepping Design: By selecting an trajectory and defining
error variables. A sequence of nested control laws is designed,
where each control law builds upon the previous one. The control
inputs for each control law based on the error variables and the
derivative of the Lyapunov function.
Department of Electrical Engineering 10
.
Stability Analysis: Perform a comprehensive stability analysis of the closed-loop
system by evaluate the Lyapunov function than we use Lyapunov's stability theorem
or other stability analysis techniques to prove the stability of the control system.
Simulation and Performance Evaluation: Implementing the designed feedback
control system using simulation software (e.g., MATLAB/Simulink, LABVIEW) and
Experimental Validation is optional.
Results Analysis and Conclusion: Analyze the simulation and experimental
results in detail , Observing the strengths, limitations, and potential improvements of
the designed control system . Summarize the findings and draw conclusions

Department of Electrical Engineering 11


.
Flow Chart Modeling

Preliminary Control
Design

Back stepping Design

Stability Analysis

Simulation &
Performance
Evaluation

Results Analysis

Conclusion

Department of Electrical Engineering 12


Conclusion

Feedback Linearization and Backstepping are two powerful nonlinear


control techniques used for controlling nonlinear systems

Department of Electrical Engineering 13


Reference
 Soumya Ranjan Mahapatro ,(2014), Control Algorithms
for a Two Tank Liquid Level System,
 Informatics Engineering, an International Journal (IEIJ),
Vol.3, No.4, 2015
 Khalil, H. K. (2002). Nonlinear systems. Prentice Hall.

 Slotine, J. J., & Li, W. (1991). Applied nonlinear control.


Prentice Hall.

 Sastry, S. (1999). Nonlinear systems: analysis, stability, and


control. Springer

Department of Electrical Engineering 14

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