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
Limit cycle generation for a class of non-linear systems with jumps using a low dimensional predictive control
Ahmed Chemori,Mazen Alamir +1 more
TL;DR: In this paper, it is shown that using a low dimensional non-linear predictive control scheme, provably stable limit cycles can be obtained for open-loop nonlinear systems with unstable equilibrium point.
Proceedings ArticleDOI
Positioning Control Research on Ball&Plate System Based on Kalman Filter
TL;DR: Using the Fuzzy-PID controller based on Kalman filter in the positioning control of Ball&Plate system, not only realizes the PID parameter self-tuning, but also improves the real-time performance and positioning accuracy.
Proceedings ArticleDOI
A Hybrid Improvement to Traditional Nonlinear Control
TL;DR: In this paper, a hybrid linear/nonlinear control design method is proposed for nonlinear control systems, which preserves closed-loop stability of the nominal linear control, but signifi- cantly expands the region of stability by using a simple Lyapunov-based, secondary, non-linear control.
Journal ArticleDOI
Application of NLq Neural Control Theory to a Ball and Beam System
TL;DR: This paper discusses the design of a linear dynamic output feedback controller for a ball and beam system for which a neural state space model is identified by applying dynamic backpropagation, constrained by internal or I/O stability conditions for NL q systems.
Journal ArticleDOI
A Generic WebLab Control Tuning Experience Using the Ball and Beam Process and Multiobjective Optimization Approach
Ricardo Massao Kagami,Guinther Kovalski da Costa,Thiago Schaedler Uhlmann,Luciano Antonio Mendes,Roberto Zanetti Freire +4 more
TL;DR: Analyzing the feedback provided by the students, remote experimentation can be seen as an interesting approach for the future of engineering learning, once it can be directly associated with industry demand of connected machines and real-time information analysis.
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.