A Suboptimal Control Using the Partition Model of Unity Which Governs Sectionwise Linear Controller
Hitoshi TAKATA, Izuru KARUBE, Kazuo KOMATSU, Takuro MOCHIZUKI
In this paper we propose a new concise mathematical model of interconnection, so that sectionwise defined functions may be easily united into a single function defined in the whole region. The basis function of this model generates an approximation of a partition of unity and is represented in terms of an analytic function whose limit becomes a block-pulse function.
The nonlinear control system is linearized sectionwise so as to be able to design the linear controllers. These controllers are united into a single controller by using the basis function mentioned above. The resulting controller has a compact (i. e. nonsectionwise defined analytic) form which enables easy implementation. Digital computer simulations show that the new controller improves the performances of nonlinear systems with high nonlinearity.