Robust nonlinear generalised minimum variance control

Sung-ho Hur, Michael J. Grimble

Research output: Chapter in Book/Report/Conference proceedingConference contribution book

1 Citation (Scopus)


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.
Original languageEnglish
Title of host publicationAmerican Control Conference (ACC), 2012
Place of PublicationNew York
Number of pages6
ISBN (Print)9781457710957
Publication statusPublished - 1 Oct 2012
EventAmerican Control Conference 2012 - Montréal, Canada
Duration: 27 Jun 201229 Jun 2012


ConferenceAmerican Control Conference 2012


  • nonlinear generalised minimum variance control
  • Kalman filter
  • nonlinear tank model


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