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
Orbital stabilization of point-to-point maneuvers in underactuated mechanical systems
TL;DR: In this article , a continuous static state-feedback control is proposed to ensure convergence to a point-to-point maneuver in an underactuated mechanical system, which is consistent with the system dynamics and connects two (linearly) stabilizable equilibrium points.
Journal ArticleDOI
System linearization via feedback: A control engineering perspective
TL;DR: Though primarily meant for learned mathematically oriented readers, the presentation focuses on ideas and concepts more than on their most general and mathematically rigorous formulations, and does not assume familiarity with advanced control theory nor modern control technology.
Proceedings ArticleDOI
Cooperative control of a dual-motor ball and beam system
M. Gunasekaran,Ramprasad Potluri +1 more
TL;DR: In this paper, the authors describe a dual-motor ball and beam experimental setup that they built in the Networked Control Systems laboratory in the Department of Electrical Engineering at IIT Kanpur.
Water Theft and Leakage Identification in Distributed System
TL;DR: In this paper , an automatic water appropriation system is utilized to convey the city water similarly to all road pipe Level sensors and flow meter is used to sense the quantity of water present inside the storage tank and measure the flow rate.
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.