Data-Driven Control for a Class of Non-Linear MIMO Systems
Proceedings of the IEEE Conference on Decision and Control (2018-December): 1174-1179 (2019-01-18)
Contribution to Conference
We extend a recently proposed data-driven control technique for reference tracking to a class of Multi-Input Multi-Output (MIMO) systems where the coupling between the different states is 'weak' in the sense of an induced norm. Using analysis results from earlier work and by augmenting it with small-gain arguments for the coupling terms, we extend the analysis to MIMO systems. Additionally, a systematic procedure is proposed to tune and estimate the controller parameters. The data-driven controller is implemented in simulation and on an experimental Control Moment Gyroscope (CMG) test bed. The effectiveness of the technique is demonstrated by comparing its tracking performance to that of an LPV controller. © 2018 IEEE.