Duality Between Incremental Nonlinear Dynamic Inversion and Quasi-Linear Parameter-Varying Control

Abstract

This paper presents a transformation-based robust nonlinear control design framework based on the concepts of incremental nonlinear dynamic inversion (INDI) and quasi-linear parameter-varying (q-LPV) control. The duality between these popular control design paradigms is investigated. Control-oriented q-LPV model representations of INDI and nonlinear dynamic inversion (NDI)-based closed-loop systems are presented for various inversion strategies, which creates a basis for robust synthesis and analysis of INDI and NDI-based designs in the LPV sense. This includes extensions to singular perturbations that limit exact inversion in reality. The presented approach is demonstrated in a design case study for a nonlinear aeroservoelastic system, where INDI-based controllers are synthesized and quantitatively compared with direct q-LPV control based on linear fractional transformations.