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
More filters
Journal ArticleDOI
Adaptive tracking for a class of feedback linearizable systems
TL;DR: A state feedback control is presented which achieves asymptotic tracking of signals generated by a known exosystem for single-input single-output nonlinear systems with unknown parameters entering linearly.
Proceedings ArticleDOI
Modeling and control design of Magnetic levitation system
Peter Šuster,Anna Jadlovská +1 more
TL;DR: In this article, a nonlinear simulation model of the magnetic levitation system based on mathematical model is presented, which is implemented into control structure with purpose of control on steady state defined by a reference trajectory, which are verified in Matlab/Simulink language.
Journal ArticleDOI
Approximate nonlinear output regulation based on the universal approximation theorem
TL;DR: In this paper, the authors presented an approximation method for solving the regulator equations based on a class of feedforward neural networks, and showed that a three-layer neural network can solve the regulator equation up to a prescribed arbitrarily small error, and this small error can be translated into a guaranteed steady state tracking error for the closed-loop system.
Journal ArticleDOI
Underactuated Robot Control: Comparing LQR, Subspace Stabilization, and Combined Error Metric Approaches
TL;DR: Three techniques for robust control of underactuated robots are experimentally compared on the classical ball and beam system, finding the subspace stabilization approach permits a much more aggressive beam motion, resulting in shorter settling time with excellent control of overshoot.
Journal ArticleDOI
Input-output pseudolinearization for nonlinear systems
TL;DR: A necessary and sufficient condition for existence of a state feedback and state coordinate change that transforms a given system into a pseudo-normal form that is input-output pseudolinearized is developed.
References
More filters
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.