Data-Driven Robust Control of Unknown MIMO Nonlinear System Subject to Input Saturations and Disturbances

<div>Convergence of <svg height="11.0997pt" id="M243" style="vertical-align:-0.2062998pt" version="1.1" viewbox="-0.0498162 -10.8934 8.77704 11.0997" width="8.77704pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,.046,-1.866)"><path d="M658 557C549 593 437 629 340 673H318C222 629 109 593 0 557L9 532C116 551 225 577 329 602C435 576 543 551 649 532L658 557Z" id="g119-105"></path></g><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M642 327C642 461 565 582 389 582C298 582 219 548 176 519L185 491C235 515 291 526 348 526C477 526 572 452 572 268C572 145 509 51 431 51C396 51 366 78 366 145C366 189 391 295 402 337L396 341L320 332C315 289 306 229 296 187C276 99 230 55 185 55C149 55 111 89 111 170C111 275 160 373 238 431L222 457C99 394 23 290 23 157C23 40 81 -12 142 -12C185 -12 254 33 293 86C301 31 340 -12 394 -12C437 -12 477 8 524 50C589 108 642 203 642 327Z" id="g113-250"></path></g></svg>, <svg height="16.2853pt" id="M244" style="vertical-align:-3.2911pt" version="1.1" viewbox="-0.0498162 -12.9942 13.7965 16.2853" width="13.7965pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,-.144,-3.967)"><path d="M470 557C393 591 314 624 246 666H224C156 624 76 591 0 557L12 532C86 550 163 573 235 596C309 572 384 550 458 532L470 557Z" id="g119-17"></path></g><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M425 682C425 693 422 699 407 699C369 699 308 677 260 646C213 651 191 674 191 701C191 715 195 726 200 734L183 740C153 730 118 709 118 681C118 644 163 619 218 615C168 582 115 534 115 463C115 418 147 382 180 369C102 329 23 261 23 163C23 74 74 38 158 14C183 7 201 2 221 -2C279 -15 290 -33 290 -58C290 -94 251 -145 230 -169L252 -189C280 -171 367 -103 367 -25C367 20 333 51 266 68C245 73 218 80 191 89C139 106 107 135 107 192C107 261 161 329 221 355C248 350 281 347 314 347C330 347 370 388 370 406C370 418 366 422 352 422C321 422 280 413 255 407C218 413 192 448 192 493C192 544 229 588 266 610C309 610 354 615 376 623C397 631 425 651 425 682Z" id="g113-236"></path></g><g transform="matrix(.0091,0,0,-0.0091,5.846,3.132)"><path d="M781 91L765 118C733 86 702 70 693 70C686 70 685 77 692 106L738 297C772 439 736 451 712 451S675 445 647 431C605 410 526 356 452 257H450L459 294C491 426 459 451 429 451C403 451 386 445 361 431C312 404 239 343 170 253H168L188 333C208 411 205 451 175 451C148 451 85 417 24 346L39 318C57 338 100 374 112 374C120 374 122 372 115 339C91 226 62 112 28 -6L37 -12C59 -4 87 3 114 6C125 68 142 127 154 168C184 227 316 383 372 383C397 383 396 366 381 289C362 192 338 92 312 -6L317 -12C339 -5 367 3 396 6L434 170C468 234 598 383 650 383C668 383 676 369 664 319L609 90C593 23 600 -12 629 -12C654 -12 722 23 781 91Z" id="g50-110"></path></g></svg>, and <svg height="9.4556pt" id="M245" style="vertical-align:-0.2063894pt" version="1.1" viewbox="-0.0498162 -9.24921 5.60619 9.4556" width="5.60619pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,-.313,-.222)"><path d="M470 557C393 591 314 624 246 666H224C156 624 76 591 0 557L12 532C86 550 163 573 235 596C309 572 384 550 458 532L470 557Z" id="g119-17"></path></g><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M393 379C402 394 400 411 393 422C384 437 365 448 348 448C301 448 237 372 186 285H182L193 335C210 408 205 448 178 448C150 448 80 402 29 344L45 321C80 355 114 373 122 373C128 373 130 365 124 330C106 228 76 98 50 -5L57 -12C82 -5 112 3 132 6L172 203C196 256 234 304 254 329C275 355 293 367 306 367C318 367 330 360 342 348C347 343 355 343 365 350S386 367 393 379Z" id="g113-115"></path></g></svg>.</div>

Mathematical Problems in Engineering

fig5

Figure 5

Figure 5: Data-Driven Robust Control of Unknown MIMO Nonlinear System Subject to Input Saturations and Disturbances 