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
Asymptotic stabilisation of the ball and beam system: design of energy-based control law and experimental results
TL;DR: A novel proof of the asymptotic stability of the desired operating point is presented and the validity of the proposed control law is demonstrated through the experimental results.
Journal ArticleDOI
Uniform output regulation via approximated input–output linearisation for lightly damped internal dynamics
Young Ok Lee,Chung Choo Chung +1 more
TL;DR: This work investigated the sufficient conditions with a parameter-dependent Lyapunov (PDL) function for semi-globally exponential stability of damped internal dynamics in an approximate input–output linearised closed-loop system.
Proceedings ArticleDOI
Control for ball and plate system based on RBF-ADRC
TL;DR: Aiming at multiple input uncertainty high-order nonlinear ball and plate system, a control strategy of cascade control with multiple auto-disturbance-rejection controls is proposed in this paper.
Proceedings ArticleDOI
Inverse dynamic analysis with feedback control for vibration-free positioning of a gantry crane system
TL;DR: In this paper, the inverse dynamic analysis is used for reducing the vibration and the sway angle for a gantry crane system, where the shape input function is derived from the specified output function.
Proceedings ArticleDOI
Prototype design and analysis of controllers for one dimensional ball and beam system
TL;DR: In this article, the performance analysis of a ball and beam system is carried out using PID, state space, lag-lead, robust LQR, observer based LQG controllers, and performance characteristics of the system is presented.
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.