Data-Driven Inversion-Based Control: closed-loop stability analysis for MIMO systems
For control engineers designing data-driven controllers for uncertain MIMO nonlinear systems, this work provides a theoretical stability guarantee, though it is an incremental extension of prior SISO results.
This paper extends a finite-gain stability condition for Data-Driven Inversion-Based Control from SISO to MIMO nonlinear systems, providing a sufficient condition for closed-loop stability.
Data-Driven Inversion-Based Control (D$^{2}$-IBC) is a recently introduced control design method for uncertain nonlinear systems, relying on a two degree-of-freedom architecture, with a nonlinear controller and a linear controller running in parallel. In this paper, extending to the MIMO case a previous result holding for the SISO case, we derive a finite-gain stability sufficient condition for a closed-loop system formed by a nonlinear MIMO plant, connected in feedback with a D$^{2}$-IBC controller.