Journal ArticleDOI
Nonlinear control via approximate input-output linearization: the ball and beam example
TLDR
In this paper, an approximate input-output linearization of nonlinear systems which fail to have a well defined relative degree is studied, and a method for constructing approximate systems that are input output linearizable is provided.Abstract:
Approximate input-output linearization of nonlinear systems which fail to have a well defined relative degree is studied. For such systems, a method for constructing approximate systems that are input-output linearizable is provided. The analysis presented is motivated through its application to a common undergraduate control laboratory experiment-the ball and beam-where it is shown to be more effective for trajectory tracking than the standard Jacobian linearization. >read more
Citations
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Journal ArticleDOI
Synchronization of two ball and beam systems with neural compensation
TL;DR: In this paper, a RBF neural network is applied to approximate the nonlinear compensator for the cross-coupling synchronization, and parallel and serial PD regulators are proposed.
Proceedings ArticleDOI
A WebLab Control Experiment using the Ball and Beam System and Multiobjective Optimization
Ricardo Massao Kagami,Guinther Kovalski da Costa,Luciano Antonio Mendes,Roberto Zanetti Freire +3 more
TL;DR: A remote experimentation procedure for the ball and beam system, which is a nonlinear and unstable open loop process, and multiobjective optimization was introduced in the experiment in order to tune Proportional-Integral-Derivative (PID) controllers.
Journal ArticleDOI
Nonlinear Ball and Beam Control System Identification
Diego Colón,Átila Madureira Bueno,Yuri Smiljanic Andrade,Ivando Severino Diniz,José Manoel Balthazar +4 more
TL;DR: In this paper, the authors analyzed a subset of these characteristics, in which the ball rolls with slipping and the friction force between the ball and the beam is non-viscous (Coulomb friction).
Book ChapterDOI
Remarks on some applications of nonlinear control techniques to chemical processes
TL;DR: In this article, a collection of heterogeneous remarks on some typical nonlinear control problems of chemical plants is presented, which illustrate the crucial role played, for applications, by qualitative analysis of the process dynamics.
Proceedings Article
Intelligence switching control of ball and plate system based on feedback linearization
TL;DR: The intelligent switch global control law is designed according to the relative degree, and the simulation results show that the work interval in this algorithm is wider than the approximate input-output linearization method.
References
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Book
Nonlinear Control Systems
Alberto Isidori,M. Thoma,Eduardo D. Sontag,B. W. Dickinson,A. Fettweis,J. L. Massey,J. W. Modestino +6 more
TL;DR: In this paper, a systematic feedback design theory for solving the problems of asymptotic tracking and disturbance rejection for linear distributed parameter systems is presented, which is intended to support the development of flight controllers for increasing the high angle of attack or high agility capabilities of existing and future generations of aircraft.
Book
Nonlinear Control Systems: An Introduction
TL;DR: This chapter discusses the development of Geometric Theory of State Feedback for Multi-Input Multi-Output Systems and its applications in control systems.
Book ChapterDOI
Output regulation of nonlinear systems
TL;DR: In this paper, the problem of controlling a fixed nonlinear plant in order to have its output track (or reject) a family of reference (or disturbance) signal produced by some external generator is discussed.
Journal ArticleDOI
Global transformations of nonlinear systems
TL;DR: In this paper, a technique for constructing a transformation under the assumption that {g\ldot[f\dotg],...,(adn-1}f\ldotsg)} span an n -dimensional space and that the set is an involutive set.