7th International Conference on Modelling, Identification and Control (ICMIC 2015)

Sousse, Tunisia - December 18-20, 2015

Tracking Control of Nonlinear Analytical Systems

Using Orthogonal Functions
Bassem Iben Warrad, Mohamed Karim Bouafoura, Naceur Benhadj Braiek
Laboratory of Advanced Systems, Polytechnic High School of Tunisia
University of Carthage, BP 743, 2078 La Marsa, Tunisia
bassem.Ibenwarrad@ept.rnu.tn, mohamed.bouafoura@ept.rnu.tn, naceur.benhadj@ept.rnu.tn

Abstract This article focuses on the tracking control problem
for nonlinear analytical systems. A polynomial state feedback
controller is designed to guarantee that the system output tracks
those of linear reference model. The parameters of the feedback
regulator are derived by solving a linear algebraic problem in
the least square sense. The efficiency of the proposed control
strategy is illustrated by mass-spring-damper benchmark.
Keywords nonlinear analytical systems, tracking control ,
reference model , orthogonal functions
I. INTRODUCTION
Tracking control of physical systems is an important control
problem widely applied. It has attracted a great deal of
attention from the control systems community both in theory
and in practice. The main objective of tracking control is
to minimize the error between the state (or output) of the
plant and the state (or output) of a given reference model.
The dynamics of physical systems studied in engineering
and science always contain different kinds of nonlinearities.
Many of these nonlinear effects can be neither ignored nor
linearized without loss of generality. The increasing demand
for good control performance of practical systems with natural
nonlinear complexities encourages the exploration to improve
the solvability and applicability of existing tracking control
design techniques. In this context, some very interesting
works used Lyapunov stability theory to design tracking
control laws for nonlinear systems satisfies the Lipschitz
also a performance level dictated by a linear reference model
whose construction is strongly inspired from the original
nonlinear system. Exposed mathematical developments are
based on the use of orthogonal functions. This powerful
mathematical tool has been applied to solve various problems
of automatic control namely, identification [19] and optimal
control [20] of time varying linear systems, analysis and
parameter estimation of bilinear systems [21], state analysis of
time varying singular bilinear systems [22] and more recently
modeling and control of fractional order systems [23] [24].
The general idea of this work consists on the projection of the
state space model of the controlled system over an orthogonal
function basis beforehand selected. The final result is given as
a linear algebraic problem which can be solved in the least
square sense.
The paper is organized as follows. In section 2, introduce the
studied systems and explain the main objective of the work. In
section 3, the proposed development is carried out, finishing
with a linear algebraic system to be solved. In section 4, an
example is given to illustrate the effectiveness of the proposed
method.
II. PROBLEM STATEMENT
In this work we consider the nonlinear system described by
the following state equations:
x(t ) ) ( x, u )
1
condition [1][2]. However, the proposed results remain y (t ) < ( x, u )
restrictives to the systems represented by a linear nominal x(0) x
0
part and these conditions are rather difficult to check.
>u1 um @ R m is the input vector,
T
The main contribution of the present paper consists in the where u u2 }
replacement of the linear constant part by a nonlinear
x R n is the state vector, y
y1 y2 } yp
T
R
p
polynomial function based on the Kronecker power of the
state vector [3] [4] which has the advantage to approach any is the output vector.
analytical nonlinear systems and general enough to model
many physical systems [5] [6] [7]. Moreover, considerable In this paper, we focus on the control of the particular class of
attention has been devoted to the study of polynomial
nonlinear systems. Significant progress has been made in the
1 , namely nonlinear polynomial systems which are
stability analysis [9] [10] [11], stabilization [12] [13] [14] described by the following state equation:
[15], robust control [16], output feedback [17] and observer- r s

x(t ) Fi x (t )  G j ( I m x (t ))u (t )
>i @ > j@
based controller [18].
In this paper, we propose to design a state feedback control

i 1 j 0

y (t ) Cx (t )  2
with a pre-filter for nonlinear polynomial system. The
considered system is assumed to have a controllable linear x(0) x
part. The control law is aimed to ensure, not only stability but 0

978-0-9567157-5-3 2014 IEEE

 7th International Conference on Modelling, Identification and Control (ICMIC 2015)
Sousse, Tunisia - December 18-20, 2015

 2 , the exact solution xr (t ) with approximate solution, given

i j
In Fi R nn , G j R n,mn and
by:
> x1 xn @ R n where:
T
x x2 } t > 0 T @, xr (t ) # X rN S N (t ) 8
> 0@ where X rN denote state coefficients resulting from the scalar
x 1
>i @ product  27  (See section A of the appendix). The time
x>
i 1@
x x i ! 1
is the symbol of the Kronecker product [3]. The system interval >0 T @ is given by steady state of the reference
is assumed to be locally controllable around x0 . The main model..
objective of the framework is the synthesis of nonlinear state
The projection of the state vector x(t ) and the fixed
feedback control with feedforward gain. reference input vector yc (t ) over the same basis of
v
u (t ) Nyc (t )  K l x (t ) >l @
 3 orthogonal functions truncated to the chosen order N given
l 1 in equation  8  can be written as:
mnl
where N R , Kl R ,v=min(r,s) and yc R
mp p
x(t ) X NIN (t ), yc (t ) YcNIN (t ) 9
is the reference input vector. The controlled polynomial where X N and YcN denote respectively state and input
system has to reproduce sharply the dynamical behavior of a coefficients resulting from the scalar product  27  .
linear reference model in which the set of desired
performances is expressed. Such model is described by the Moreover the Kronecker square of x(t ) could be also
following state equations: expanded over the same basis:
xr (t ) Exr (t )  Fyc (t )
 4 x> @ (t )
2
x(t ) x(t )  X N IN  t    X N IN  t   
yr (t ) Gxr (t )
 X N X N  I N  t  I N  t  
where xr R n and yr R p
 X N X N  M N 1, N IN  t  X N>2@IN  t 
x> @ (t ) x> @ (t ) x(t )   X N> @IN  t    X N IN  t   
III. MAIN RESULTS 3 2 2

A. Control law synthesis

By taking into account, equations  2 and  3 , state  X > @ X  I
N
2
N N  t  IN  t  
variables could be written as follows:
r s
X> @ X M
N
2
N N 1, N IN  t  X N> @IN  t 
3

x(t ) F x> @ (t )  G ( I
i
i
j m x> @ (t ))Nyc (t ) 
j

s v
i 1 j 0
 5 x> @ (t )
i
x>
i 1@
(t ) x(t )  X >i 1@
N 
IN  t   X N IN  t   
G j ( I m x> @ (t )) Kl x> @ (t ) j l

j 0 l 1 X> N
i 1@
XN  I N  t  IN  t  
The integration of the equation  5  from zero t > 0 T @,
leads to:
X> N
i 1@
XN M N 1, N IN  t  X N> @IN  t 
i

r t where matrix M N 1, N is defined in Lemma 2 of section D

x(t )  x(0) F x> @ (W )dW 
i 1
i
i
of the appendix. The product terms in the equation  6  can
0
s t  6 be written as follows:
G (I x> @ (W ))Nyc (W )dW 
I   I  X > @I (t )  NY I
j

x> @ (t ) Nyc (t )
j m j j
j 0 0 m m N N cN N (t )
t

I X > @   I I (t )  NY I (t )
s v

G (I
j 0 l 1
j m x> @ (W )) K l x> @ (W )dW
j l
m N
j
m N cN N
0

Furthermore, for fixed reference input vector yc (t ) , the I m X > @   I I (t )    NY I (t )  1

N
j
m N cN N
exact solution xr (t ) of the constructed reference model
 4  can be obtained from the following relation:
I m X > @    NY I (t )  I (t ) 
N
j
cN N N

xr (t )
t
e Et xr (0)  e E ( t W ) Fyc (W )dW 7 I m X > @    NY  I  I (t ) I (t ) 
N
j
cN N N N

I X > @    NY  I  M
0

In order to choose the optimal number of elementary m N

j
cN I (t ) N N 1, N N

functions N of the orthogonal functions basis, we compare

I m X > @   N I  Y I  M
N
j
N I (t )
cN N N 1, N N

978-0-9567157-5-3 2014 IEEE

 7th International Conference on Modelling, Identification and Control (ICMIC 2015)
Sousse, Tunisia - December 18-20, 2015

and r

 I m x (t ) K l x (t ) > j@
  >l @ > j@
I m X N IN (t ) K l X N IN (t ) >l @ X rN  X 0 N F X> @P
i 1
i
i
rN N 

I X > @   I I (t )    K X > @I (t )  1
G I 
s
 N I N  YcN I N  M N 1,N PN  15
j l
>@ j
m N m N l N N
j m X rN
I X > @    K X > @I (t )  I (t ) 
j 0
j l

G  I   
m N l N N N s v
> @
X rN  Kl I N  X rN> @ I N M N 1, N PN
j l

I m X > @   K X > @ I  I (t ) I (t ) 
N
j
l N
l
N N N j 0 l 1
j m

I m X > @ K X > @ I  M
N
j
I (t )l N
l
N N 1, N N
The use of vec operator leads to:
r

I X > @ K I  X > @ I  M
j
I (t ) l vec( X rN )  vec( X 0 N ) P T
N Fi  vec( X rN
>@
)
i

m N l N N N N 1, N N i 1
16 
It comes out then: s s v

r t G vec  N I   J
j N jl vec  K l I N 
X NIN (t )  X 0 NIN (t ) Fi X N> @ IN (W )dW 
i 1
i j 0
with:
j 0 l 1

  Y 
0
t Gj I N  M N 1, N PN  G j I m X rN
> @ T
  j

G I   N I  Y
s
> j@
I N  M N 1, N IN (W )dW 
cN
j m XN N cN
10 
j 0
and
0

 X    
T
>l @ > @
t J jl I N M N 1, N PN G j I m X rN
j

G  I K I  X 
s v
> j@ >l @ rN

j m XN l N N I N M N 1, N IN (W )dW
j 0 l 1
Based on the Lemma 1 of section D of the appendix, the
0
The use of the integration operational matrix yields: equation 16  can be also written as follows
r r
X N IN (t )  X 0 N IN (t ) F X > @P I i N
i
N N (t )  vec( X rN )  vec( X 0 N )   PNT Fi  vec( X rN
>@
)
i

i 1 i 1 17 
G I 
s s s v

j m X N> @  N I N  YcN I N  M N 1, N PN IN (t ) 

j 11 G 3  I  vec  N   J
j 0
j m, p N
j 0 l 1
jl 3 m,nl  I N  vec  K l 
j 0
which is equivalent to:
G  I K I  X 
s v
> j@ >l @
j m XN l N N I N M N 1, N PN IN (t ) vec( K1 )
j 0 l 1 vec( K )
Simplifying the vector IN (t ) in both sides of 11 , it E D1vec( N )  D 2 2
18 

results:
r vec( K v )
X N  X 0N F X > @P
i 1
i N
i
N  where
r
E vec( X rN )  vec( X 0 N )   PNT Fi  vec( X rN
>@ i
)
G I   N I  Y
s
X > j@
I N  M N 1, N PN  12  i 1
j m N N cN
j 0 s
D1 G 3 m, p  I N 
G  I K I  X > @ I  M
s v j
X N> @
j l
j m l N N N N 1, N PN j 0
j 0 l 1 D2 > *1 *2 } *v @
We underline that the main idea consists on equalizing
with
controlled polynomial system and reference model state, s
which ensure obviously the desired output tracking
(yr (t)=y (t)) . That is to say:
*l J
j 0
jl 3 m , nl  I N 
x(t ) xr (t ) X NIN (t ) X rNIN (t ) X N X rN 13 It would be interesting to formulate our problem under the
Furthermore, we can deduce X rN from the following >i @ following linear algebraic equation to be solved in the least
square sense:
equation: AT B 19 
>@
X rN
i
X> i 1@
rN X rN M N 1, N  14  vec  N 

where matrix M N 1, N is defined in Lemma 2 of section D where vec( K1 )
A >D1 D 2 @ , B E ,T
of the appendix.

Then, the equation 12  could be written now as:
vec( K v )

978-0-9567157-5-3 2014 IEEE

 7th International Conference on Modelling, Identification and Control (ICMIC 2015)
Sousse, Tunisia - December 18-20, 2015

B. Linear reference model construction 0 1 0

We propose in this paper to adopt a linear reference model
x1 c x1 u

which is designed by taking the linear part of the original
x
2  2  c3 x12 c
 1 x2
1 c
 4 x12
system, that is to say: M M M M M
The system above can be seen as a polynomial system
xl (t ) F1 xl (t )  G0ul (t )
 2  with:
yl (t ) Cxl (t )  20 
x (0) x 0 1 0
l 0 F1 0.01 1 , F2 02u4 , G0 1 , G1 02u2
This system is assumed to be controllable and its n state
components are all physically measurable, The dynamic C >1 0 @ 3   0.1; F3  i,
, F 2,1 j 0
behavior of linear system  20  could be easily tuned as
desired simply with a state feedback and a feedforward gain of elsewhere  i=1, 2; j=1}8
the following form: G2  2,1 0.13; G2  i, j  0
ul (t ) N0 yc (t )  K0 xl (t )  21 elsewhere  i=1, 2; j=1}4 
mun
The matrix K0 R can be synthesized by classical
linear approaches such as pole placement. However, the
matrix N0 R mu p is useful to eliminate the steady state
error:
H  f yc  yl  f   22 
could be determined, for m p , by the following relation:
1 Fig. 1 Nonlinear mass-spring-damper system
 C > F1  G0 K 0 @ G0  23
1
N0

Poles of the linearized system are chosed here as
when p ! m , it would be possible to compute N 0 p1 0.5, p2 0.8 . Then, the reference model designed
through: for this particular system is given by the following linear
1
N0  Cm > F1  G0 K 0 @ G0

1

 24  system as described by equation  25  , where:
Where Cm is a restriction to m lines of C which refer 0 1 0
E 0.4 1.3 , F 0.4 , G C
to the possibly controlled outputs with accorded inputs. The
last case is for m ! p ,  23 still holds but a pseudo- The exact solution of the linear reference model xr  t  , is
inversion should be computed. given for yc (t ) 0.02m by
Finally, The parameters of  4  are given by: 1  45t 4  2t 1
F1  G0 K0 , F xr1 (t ) e  e 
E G0 N0 , G C  25 30 75 50

IV. EXAMPLE x (t ) 1 10 3t
54t

r2 2e  1 e
In this section, we will apply the proposed nonlinear output 75
feedback control design in section III to a nonlinear mass For N 16 (order of shifted Legendre polynomials basis
spring-damper system [8] shown in Figure 1. The dynamic [26] denoted SLP) and T 100s , it can be observed from
equation of the nonlinear system is given by
figure (2) that we have a good approximation of the exact
Mx  g ( x, x)  f ( x) h( x)u
solution xr  t  .
where M is the mass, u is control force, f ( x) represents
nonlinear spring term, g ( x, x) is the damper term, g ( x) is
nonlinearity associated with input channel. The parameters are
chosen as
M 1, c1 1, c2 0.01, c3 0.1, c4 0.13
g ( x, x ) c1 x, f ( x) c2 x  c3 x 3 , h( x) 1  c4 x 2
Let x1 x (displacement), x2 x (velocity), the state
space model of the system will be
Fig. 2 States variables of the reference model

978-0-9567157-5-3 2014 IEEE

 7th International Conference on Modelling, Identification and Control (ICMIC 2015)
Sousse, Tunisia - December 18-20, 2015

Any analytical function f (t ) absolutely integrable over an

Then, the implementation of the proposed approach leads interval > 0 T @ can be developed as follows:
to the following control gains
N 0.3537, K1 > 0.3485 -0.1302@
f
f (t ) f M (t )i i
 26 
K 2 > -0.2442 6.5171 -0.0085 0.0085@ i 0

where
Figure (3) shows responses of the reference model and the T
controlled systems outputs. fi 1 / ri w(t ) f (t )Mi (t )  27 
Simulation results prove that the proposed control law 0
computed using the developed approach follows perfectly the with w(t ) a positive and integrable function taken as the
desired reference model. In figure (4), control signal u is
weighting function of the scalar product.
plotted.
The elementary orthogonal functions Mi verify the
orthogonality relation:
T
Mi (t ), M j (t ) w(t )M (t )M
i j (t ) dt G ij r  28
0

where G ij is the symbol of Kronecker which is equal to 1

if i j and to 0 if i z j and r is the result of the scalar
product.
For practical use, the infinite series  26  is truncated up to
an order N, thus the following time approximation of the
function f (t ) is considered:
N 1
f (t ) # f M (t )i i FN IN (t )  29 
Fig. 3 Responses of the reference model and the controlled systems outputs i 0

with
FN > f0 f1 f N 1 @
and
>M0 (t ) M N 1 (t )@
T
IN (t ) M1 (t )
Coefficients f i have the particularity to minimize the
approximation error:
T 2
N 1

H 0 f (t ) 
i 0
f iMi (t ) dt

 30 

B. Operational matrix of integration

Fig. 4 control effort For a given basis of orthogonal functions
IN (t ) >M0 (t ) M1 (t ) M N 1 (t )@
T
, the operational
V. CONCLUSION
A least-squares approach for tracking control of nonlinear matrix of integration is a constant matrix PN R N uN
systems with polynomial vector fields has been presented in constructed to verify the following relation:
t
this paper. A nonlinear state feedback is designed to
guarantee that the system output tracks those of the reference I N (t )dt #PN IN (t )  31
0
model. The problem is formulated as a linear equation
depending on the controller parameters, which can be solved Clearly, the form of PN depends on the chosen basis
in the least square sense. A numerical example of a mass- vector IN (t )
spring-damper is presented to illustrate the efficacy of the
theoretical developments. C. Operational matrix of product
In future works, we intend to extend our development to
handle the dynamic state feedback control of nonlinear
Operational vectors of product K ij are constant
systems via orthogonal functions. coefficients which verify the property [25]:
Mi (t )M j (t ) # KijT IN (t ), i, j ^0,1, }, N 1`  32 
VI. APPENDIX
A. Orthogonal functions

978-0-9567157-5-3 2014 IEEE

 7th International Conference on Modelling, Identification and Control (ICMIC 2015)
Sousse, Tunisia - December 18-20, 2015

From the relationship  32  , we can easily deduce the Manufacturing Systems (Eds. Gentina, J.C. and Tzafesta, S.G.).
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electrical machines", IEEE International Symposium on Circuits and
K iT0
M iN


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control for synchronous machines via polynomial modelling and linear
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T
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that allows the following approximation: Automation and Systems, vol. 9, no. 3, 2011.

Mi (t )IN (t ) # M iNIN (t )  34  [8] Q. Zheng and F. Wu, ``Nonlinear Output Feedback Hf Control for
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[9] N. Benhadj Braiek, ``On the global stability of nonlinear polynomials
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[17] Q. Zheng and F. Wu. ``Nonlinear Output Feedback Hf Control for
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[18] S. Elloumi, M. M. Belhouane and N. Benhadj Braiek, ``Observer-
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