Robust Nonlinear Generalised Minimum Variance control

This paper extends the Nonlinear Generalised Minimum Variance (NGMV) controller in order to improve the robustness of its control or set-point tracking performance. This is achieved by replacing the Kalman filter included in the original NGMV controller with an observer whose gain is obtained to minimise the effect of uncertainty, which includes unknown disturbance, modelling error, and faults. The performance of the extended controller is assessed and compared with the original controller by application to a nonlinear tank model and a cam phaser dynamics model, and simulation results are presented in this paper demonstrating improvements that can be achieved by the extended controller over the original controller.