U-model based Control Design Framework for Continuous-Time Systems

This paper expands the discrete-time (DT) U-model set and the associated control designs into continuous-time (CT) U-model expressions to make U-model based control (U-control) feasible for CT systems directly. Consequently, this study has focused on the CT U-model formation and its inversion by graphical implementation in the environment of Simulink/Matlab. It is the U-model to make U-control feasible to establish the model-independent control system design framework with two cascade controllers (invariant controller for generating the desired closed-loop plant output response and the plant dynamic inversion to drive the plant model as a unit constant gain). In the design, the invariant controller is designed once-off within a linear feedback loop for specifying the whole system performance, and the real controller output is determined by the dynamic inversion of plant model together with the desired control. Three simulated CT U-control examples demonstrate the proposed U-control design procedure and application reference for potential readers/users with their future ad-hoc research development.