Nonlinear Systems control

Processes in industries like robotics and the aerospace industry typically have strong nonlinear dynamics. In control theory it is sometimes possible to linearize such classes of systems and apply linear techniques, but in many cases it can be necessary to devise from scratch theories permitting control of nonlinear systems. These, e.g., feedback linearization, backstepping, sliding mode control, trajectory linearization control normally take advantage of results based on Lyapunov's theory. Differential geometry has been widely used as a tool for generalizing well-known linear control concepts to the non-linear case, as well as showing the subtleties that make it a more challenging problem.

Decentralized Systems

When the system is controlled by multiple controllers, the problem is one of decentralized control. Decentralization is helpful in many ways, for instance, it helps control systems operate over a larger geographical area. The agents in decentralized control systems can interact using communication channels and coordinate their actions.

Main control strategies

Every control system must guarantee first the stability of the closed-loop behavior. For linear systems, this can be obtained by directly placing the poles. Non-linear control systems use specific theories (normally based on Aleksandr Lyapunov's Theory) to ensure stability without regard to the inner dynamics of the system. The possibility to fulfill different specifications varies from the model considered and the control strategy chosen. Here a summary list of the main control techniques is shown:

Adaptive control

Adaptive control uses on-line identification of the process parameters, or modification of controller gains, thereby obtaining strong robustness properties. Adaptive controls were applied for the first time in the aerospace industry in the 1950s, and have found particular success in that field.

Hierarchical control

A Hierarchical control system is a type of Control System in which a set of devices and governing software is arranged in a hierarchical tree. When the an operational blocks in the tree are implemented by a computer network, then that hierarchical control system is also a form of Networked control system.

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