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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Proceedings ArticleDOI
Linear robust Generalized Proportional Integral Control of a ball and beam system for trajectory tracking tasks
TL;DR: In this article, the ball and beam trajectory tracking problem is tackled using a robust Generalized Proportional Integral Integral (GPI) Controller developed on the basis of the tangent linearized system model around the equilibrium point.
Proceedings ArticleDOI
Robust stabilization of nonminimum phase nonlinear systems
TL;DR: The problem of robust stabilization for nonlinear systems with mismatched uncertainties is further studied by extending the results of Liao (1992) to the case where non linear systems either fail to have well-defined relative degree or have unstable zero dynamics.
Modelado y control PD-Difuso en tiempo real para el sistema barra-esfera
R Floriberto Ortiz,Wen Yu Liu +1 more
TL;DR: In this article, a modelado matematico of un sistema no lineal barra-esfera, la planta is linealizada sobre un punto de operacion.
Journal ArticleDOI
Velocity Observer-Based Nonlinear Self-Tuning Position Stabilizer for Ball-Beam System Applications
TL;DR: A first-order ball velocity estimator is proposed using only the ball position feedback without dependence on system parameters and the resulting nonlinear controller incorporates the time-varying feedback gain driven by the proposed self-tuner.
Posted Content
Inverse Cooperative and Non-Cooperative Dynamic Games Based on Maximum Entropy Inverse Reinforcement Learning.
TL;DR: This paper extends maximum entropy inverse reinforcement learning to the N-player case in order to solve inverse dynamic games with continuous-valued state and control spaces and gives results on the unbiasedness of the estimation of cost function parameters for each class of inverse dynamic game.
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.