This study presents the fundamental concepts and technical details of a U-model-based control (U-control for short) system design framework, including U-model realisation from classic model sets, control system design procedures, and simulated showcase examples. Consequently, the framework provides readers with clear understandings and practical skills for further research expansion and applications. In contrast to the classic model-based design and model-free design methodologies, this model-independent design takes two parallel formations: (1) it designs an invariant virtual controller with a specified closed-loop transfer function in a feedback control loop and (2) it determines the real controller output by resolving the inverse of the plant U-model. It should be noted that (1) this U-control provides a universal control system design platform for many existing linear/nonlinear and polynomial/state-space models and (2) it complements many existing design approaches. Simulation studies are used as examples to demonstrate the analytically developed formulations and guideline for potential applications.

中文翻译：

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非线性动力系统的U模型和U控制方法

这项研究提出了基于U模型的控制（简称U控制）系统设计框架的基本概念和技术细节，包括从经典模型集实现U模型，控制系统设计程序和模拟展示示例。因此，该框架为读者提供了清晰的理解和实践技能，可用于进一步的研究扩展和应用。与经典的基于模型的设计和无模型的设计方法相比，这种与模型无关的设计采用两种并行形式：（1）设计具有反馈控制回路中指定闭环传递函数的不变虚拟控制器，以及（ 2）通过解析工厂的逆来确定实际的控制器输出U型。应当指出，（1）该U控件为许多现有的线性/非线性和多项式/状态空间模型提供了通用的控制系统设计平台，并且（2）补充了许多现有的设计方法。以模拟研究为例，以说明经过分析开发的配方和潜在应用指南。