Finite-Time Prescribed Performance Control for Nonlinear Systems With Mismatched Disturbances: An Alternative Nonrecursive Design Approach and Application to PMSM

This article considers the finite-time prescribed performance control (PPC) problem for a class of nonlinear systems with mismatched disturbances in the presence of output constraints. By integrating a nonrecursive design framework into the PPC process, the proposed nonsmooth methodology alleviates the “explosion of terms” that often occurs in recursive PPC. In addition, aiming to enhance the dynamic performance of a constrained nonlinear system, a novel finite-time performance function is proposed. The final convergence time of tracking error can be predefined, independent of system initial condition and control parameters. Finally, a numerical simulation and a representative position regulation experiment of permanent magnet synchronous motor (PMSM) system validate the effectiveness and simplicity of the proposed nonsmooth control scheme.