PI Stabilizing Control of Nonaffine MIMO Systems by Additive-State-Decomposition Dynamic Inversion Design

This article addresses the stabilizing control issue for a class of nonaffine multiple input multiple output nonlinear systems subject to time-varying disturbance using an additive-state-decomposition dynamic inversion control scheme. First, the original system is transformed into a minimum phase system through a proposed output redefinition method. Then, the transformed minimum-phase system is further additively decomposed into a primary subsystem and a secondary subsystem. Next, the dynamic inversion control scheme solves the nonaffine control problem. Stability analysis shows that the proposed control method guarantees all closed-loop system signals being semiglobally uniformly ultimately bounded. Finally, a simulation and an attitude control experiment of a quadcopter show the effectiveness of the proposed control method.