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
Nonlinear coordinated control of drum boiler power unit based on feedback linearization
Yu Daren,Xu Zhiqiang +1 more
TL;DR: In this article, the feasibility of applying feedback linearization technique to the nonlinear control of superheater steam pressure and power output of a boiler-turbine generating unit was analyzed.
Global Asymptotic Stabilization of the Ball-and-Beam
TL;DR: In this paper, a new saturation control law was proposed for the ball-and-beam system, which employs state-dependent saturation levels and guarantees global asymptotic stability, not achieved with previous de- signs.
Journal ArticleDOI
Incremental sliding mode control of the ball and beam
TL;DR: It is shown that, using a switched periodic controller, integral curves of certain Lie brackets of the drift and controlled vector fields for the ball and beam can be "incrementally track" to result in effective global tracking of large motions of the ball.
Proceedings ArticleDOI
Designing fuzzy logic systems for uncertain environments using a singular-value-QR decomposition method
G.C. Mouzouris,Jerry M. Mendel +1 more
TL;DR: The proposed SVD-QR method selects subsets of independent basis functions which are sufficient to represent a given system, through operations on a nonsingleton fuzzy basis function matrix, and provides an estimate of the number of necessary basis functions.
Journal ArticleDOI
A state observer for nonlinear systems and its application to ball and beam system
N.H. Jo,Jin-Heon Seo +1 more
TL;DR: It is shown that there exists a local state observer for a nonlinear system if it has robust relative degree n, and the proposed observer utilizes the coordinate change which transforms a system into an approximate normal form.
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.