U-control – a universal platform for control system design with inversion/cancellation of nonlinearity, dynamic and coupling through model-based to model-free procedures

Quanmin Zhu, Weicun Zhang, Shaoyuan Li, Qiang Chen, Jing Na and Haigang Ding

International Journal of Systems Science, 2025, vol. 56, issue 3, 484-501

Abstract: This paper presents the key components in the Universal(U)-control framework for designing dynamic control systems from model-based to model-free paradigms, in which the pillars include U-control system configuration, open-loop dynamic inversion, closed-loop dynamic inversion, general model-free cancellation of nonlinear-dynamic-coupling effect, model-free-sliding-mode control (MFSMC) and model-free composite nonlinear feedback (CNF) control. This paper is devoted to delivering intuitive and easy-to-understand explanations for the involved approaches with a series of schematic diagrams. Readers can refer to the corresponding publications for more details on the theoretical analyses. In addition, some showcase examples are provided in this paper to facilitate the understanding of certain important concepts.

Date: 2025
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DOI: 10.1080/00207721.2024.2395925

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