Controller design for nonlinear multivariable systems

Amir Nassirharand, Sze Hong Teh

Research output: Chapter in Book or Report/Conference proceedingConference Proceedingpeer-review

2 Citations (Scopus)


A new method of controller design for use with nonlinear multivariable systems with discontinuous nonlinear terms is developed. The procedure is based on generating the sinusoidal-input describing function models of the plant followed by application of a nonlinear optimization technique. The procedure is applied to bank-angle control of a highly nonlinear unmanned aerial vehicle (UAV), and the results are compared with three other controllers that were previously designed for the same system. It is concluded that the present controller out-performs a linear controller, and it competes with a nonlinear controller.

Original languageEnglish
Title of host publication2014 American Control Conference, ACC 2014
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages5
ISBN (Print)9781479932726
Publication statusPublished - 21 Jul 2014
Externally publishedYes
Event2014 American Control Conference, ACC 2014 - Portland, OR, United States
Duration: 4 Jun 20146 Jun 2014

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619


Conference2014 American Control Conference, ACC 2014
Country/TerritoryUnited States
CityPortland, OR


  • amplitude sensitivity
  • describing functions
  • nonlinear systems
  • optimization
  • simultaneous stabilization

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