A Quasi-ARX Model for Multivariable Decoupling Control of Nonlinear MIMO System

This paper proposes a multiinput and multioutput MIMO quasi-autoregressive eXogenous ARX model and amultivariable-decoupling proportional integral differential PID controller for MIMO nonlinear systems based on the proposed model. The proposed MIMO quasi-ARX model improves the performance of ordinary quasi-ARX model. The proposed controller consists of a traditional PID controller with a decoupling compensator and a feed-forward compensator for the nonlinear dynamics based on the MIMO quasi-ARX model. Then an adaptive control algorithm is presented using the MIMO quasi-ARX radial basis function network RBFN prediction model and some stability analysis of control system is shown. Simulation results show the effectiveness of the proposed control method.