Sohaib Azhar

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In this paper, we propose a more generalized controller design methodology for a class of nonlinear plants. This design procedure is based on MIMO U-model structure. The U-model significantly simplifies the online synthesis of the control law. The proposed technique is applied for the internal model control of a 2-link robot manipulator. The performance of(More)
In this paper, a learning feedforward controller (LFFC) using the U-model is proposed for a better tracking control of multivariable nonlinear systems over a finite time interval. The multivariable system is modelled using the U-model and the LFFC is established using Newton-Raphson method. U-model significantly simplifies the online synthesis of the(More)
In this paper, we propose a more generalized controller design methodology for a class of nonlinear plants. This design procedure is based on MIMO U-model structure. The U-model significantly simplifies the online synthesis of the control law. The proposed technique is applied for the internal model control of a 2-link robot manipulator. The performance of(More)
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