ACC99-IEEE1348 Control Comparisons for the Nonlinear Benchmark.pdfVIP

ACC99-IEEE1348 Control Comparisons for the Nonlinear BenchmarkSystemJ. Willard Curtis Randal W. BeardElectrical and Computer Engineering DepartmentBrigham Young UniversityProvo, UT, 84602fwilly, beardg@AbstractThe experimental performance of recently proposedapproximation techniques for nonlinear optimal, andnonlinear H1 control compare favorably with otherpopular design techniques including LQR, linear H1,backstepping, and passivity based control. The per-formance of the aforementioned six control laws ona physical system similar to the Nonlinear Bench-mark problem proposed by Bernstein is c