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The 3 rd International Conference on Systems and Control 29-31 October2013, Hilton Hotel, Algiers, Algeria
The 3 rd International Conference on Systems and Control
29-31 October2013, Hilton Hotel, Algiers, Algeria
The 3 rd International Conference on Systems and Control 29-31 October2013, Hilton Hotel, Algiers, Algeria Workshop

Workshop on

Generalized Dynamic Inversion:

An Evolving Paradigm for Control System Design

Dr. Abdulrahman Hasan Bajodah is a faculty member of the Aeronautical Engineering Department at King Abdulaziz University in Jeddah, Saudi Arabia. He received his B.Sc. degree in Aeronautical Engineering from King Abdulaziz University in 1992, and his Ph.D. degree in Aerospace Engineering from Georgia Institute of Technology in 2003. He is a member of the aerospace technical committee of the International Federation of Automatic Control (IFAC), a senior member of the American Institute of Aeronautics and Astronautics (AIAA), and a visiting professor in several international engineering schools. His research interests include analytical mechanics, nonlinear and optimal control, and adaptive control systems, with applications to robotics, Aircraft and spacecraft control.

Topics of the workshop :

The development of Nonlinear Dynamic Inversion (NDI) has contributed substantially towards the advancements in control systems design during the past three decades. The methodology is nowadays implemented within numerous control systems of the latest state- of the art industrial applications, e.g., civil and military aircraft, spacecraft, electric motors and devices, robots, and chemical plants. Despite of its popularity, NDI has its shortcomings, which are mostly related to the square inversion involved in the methodology. These include singularities of the inverted matrices, cancelations of useful nonlinearities, large control efforts, limited choices of controlled variables due to the zero dynamics, in addition to robustness concerns. The aim of this workshop is to present the newly developed generalized dynamic inversion (GDI) control paradigm, which intends to overcome the drawbacks of classical NDI. In particular, the inversion process that utilizes non-square generalized (pseudo-) inversion will be highlighted, in addition to the associated nullspace parametrization of non-square system matrices. The algebraic and the geometrical features of GDI that facilitate control system design will be emphasized, and the opportunities to employ several well-known control design methodologies in the framework of GDI will be discussed. Finally, the advantages of GDI over classical NDI and other control methodologies will be illustrated by several aerospace, electrical, and mechanical engineering examples.

Workshop Outline:


Overview of classical Nonlinear Dynamic Inversion (NDI)

  • (a) Summary of the NDI methodology and feedback linearization

  • (b) Shortcomings and drawbacks of NDI


Generalized Dynamic Inversion (GDI)

  • (a) Mathematical preliminaries

  • (b) Feedback linearization of non-square systems

  • (c) Nullspace parametrization of nonsquare system matrices

  • (d) Semi-definite Lyapunov functions and Null-control vector design


Augmenting control methodologies in the GDI control design framework


Examples, applications, and open problems

Registration and contact:

Registration fees: Including coffee breaks 30 (3000 DA) (student registration),

5 0 (5000 DA) (regular


100 (10000

DA) (industrial attendees)

Contact: Dr. Abdulrahman Hasan Bajodah, Associate Professor Aeronautical Engineering Department, King Abdulaziz University, Jeddah, Saudi Arabia. ,