Workshop Icsc2013 Abajodahl
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Transcript of Workshop Icsc2013 Abajodahl
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Workshop onGeneralized Dynamic Inversion:
An Evolving Paradigm for Control System Design
Dr. Abdulrahman Hasan Bajodah is a faculty member of the Aeronautical Engineering Department at KingAbdulaziz University in Jeddah, Saudi Arabia. He received his B.Sc. degree in Aeronautical Engineering
from King Abdulaziz University in 1992, and his Ph.D. degree in Aerospace Engineering from Georgia
Institute of Technology in 2003. He is a member of the aerospace technical committee of the InternationalFederation of Automatic Control (IFAC), a senior member of the American Institute of Aeronautics and
Astronautics (AIAA), and a visiting professor in several international engineering schools. His research
interests include analytical mechanics, nonlinear and optimal control, and adaptive control systems, with
applications to robotics, Aircraft and spacecraft control.
The development of Nonlinear Dynamic Inversion (NDI) has contributed substantially towards the
advancements in control systems design during the past three decades. The methodology is nowadays
implemented within numerous control systems of the latest state- of the art industrial applications, e.g., civil
and military aircraft, spacecraft, electric motors and devices, robots, and chemical plants.Despite of its popularity, NDI has its shortcomings, which are mostly related to the square inversioninvolved in the methodology. These include singularities of the inverted matrices, cancelations of useful
nonlinearities, large control efforts, limited choices of controlled variables due to the zero dynamics, inaddition to robustness concerns. The aim of this workshop is to present the newly developed generalized
dynamic inversion (GDI) control paradigm, which intends to overcome the drawbacks of classical NDI. In
particular, the inversion process that utilizes non-square generalized (pseudo-) inversion will be highlighted,
in addition to the associated nullspace parametrization of non-square system matrices. The algebraic and the
geometrical features of GDI that facilitate control system design will be emphasized, and the opportunities
to employ several well-known control design methodologies in the framework of GDI will be discussed.
Finally, the advantages of GDI over classical NDI and other control methodologies will be illustrated by
several aerospace, electrical, and mechanical engineering examples.
1) Overview of classical Nonlinear Dynamic Inversion (NDI)(a)Summary of the NDI methodology and feedback linearization(b)Shortcomings and drawbacks of NDI
2) Generalized Dynamic Inversion (GDI)(a)Mathematical preliminaries(b)Feedback linearization of non-square systems(c)Nullspace parametrization of nonsquare system matrices(d)Semi-definite Lyapunov functions and Null-control vector design
3) Augmenting control methodologies in the GDI control design framework4) Examples, applications, and open problems
The 3rd International Conference on Systems and Control
29-31 October2013, Hilton Hotel, Algiers, Algeria
Workshop Outline:
Topics of the workshop :
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7/29/2019 Workshop Icsc2013 Abajodahl
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Registration fees: Including coffee breaks
30 (3000 DA) (student registration),50 (5000 DA) (regular registration),100 (10000 DA) (industrial attendees)Contact: Dr. Abdulrahman Hasan Bajodah, Associate Professor
Aeronautical Engineering Department, King Abdulaziz University, Jeddah, Saudi Arabia.
[email protected] , [email protected]
Registration and contact:
