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
Decentral nonlinear observer design using a block-triangular form
Johanna Schaffner,Michael Zeitz +1 more
TL;DR: The observer design for nonlinear multiple-output systems is shown to be considerably simplified in a decentral approach and the method is illustrated by the ball-and-beam example.
Proceedings ArticleDOI
Stable Adaptive Ball and Beam Control
Lorinc Marton,Béla Lantos +1 more
TL;DR: In this article, the authors proposed a model based adaptive control algorithm to control the ball and beam system with unknown parameters, which is based on an error metric which combines the trajectory tracking of the balls and the stabilization of the beam.
Proceedings ArticleDOI
Control reconfiguration in the presence of software failures
TL;DR: A special approach for software fault tolerance in control applications where a full-function, high-performance, but complex control system is complemented by an error-free implementation of a highly reliable control system of lower functionality.
Journal ArticleDOI
Nonlinear tracking control of vibration amplitude for a parametrically excited microcantilever beam
Quoc Chi Nguyen,Slava Krylov +1 more
TL;DR: In this article, a feedback control algorithm to regulate oscillation amplitude of a microelectromechanical (MEMS) cantilever beam operated at parametric resonances is developed.
Journal ArticleDOI
Stabilization of Approximately Feedback Linearizable Systems Using Singular Perturbation
Jun-Won Son,Jong-Tae Lim +1 more
TL;DR: A perturbation parameter is introduced by applying high-gain feedback and the rigorous conditions of the feedback linearization method are overcome and the dimension of the slow model of the singularly perturbed system is reduced.
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.