Embedded Digital Control with Microcontrollers

12Advanced Applications

This chapter is divided into two parts as advanced controller design methods and digital control applications. In the first part, we will briefly introduce nonlinear, optimal, robust, and distributed control methods. We will also provide actual examples on these methods. In the second part, we aim to show how digital control concepts can be used to solve real-life problems. Therefore, we will provide several applications on open- and closed-loop control, visual servo, and control of a permanent magnet synchronous motor (PMSM). Through these applications, the reader will gain insight about the usage of classical and advanced digital control methods on real-life problems. Hence, we expect the book to serve its purpose.

12.1 Nonlinear Control

We assumed the system at hand or the controller to be designed as linear throughout the book. Unfortunately, this is not the case in practice. So, why did we follow such an approach? Well, linear system theory tools are easier to apply and approximate most control problems sufficiently well. Therefore, we followed the same path as with most control system books. There is also extensive research on nonlinear systems. Here, the analysis and design tools are different and provide very good results if applied properly. In this section, we start with nonlinear system identification by MATLAB followed by examples on nonlinear system control via Python control systems library.

12.1.1 Nonlinear System Identification by ...