ON DETERMINING THE MODEL STRUCTURE OF A NONLINEAR FEEDBACK CONTROL LAW FOR A MODEL FOLLOWING NONLINEAR SYSTEM

The proposed algorithm will start with a control sequence for the nonlinear plant which is equal to the control sequence for the model. This control sequence will be updated iteratively, taking into consideration a library of nonlinear vector-valued functions associated with the dynamic equations of the nonlinear plant. The essential feature of the technique is that it recursively generates a sequence of projection matrices to be used as a mapping transformation operators so that the original vector-valued functions become conjugate directions. This leaves the original nonlinear dynamic equations intact and allows the n-term nonlinear control law to be assembled in n selections from the library.