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
Proceedings ArticleDOI
Robust backstepping control with disturbance rejection for a class of underactuated systems
TL;DR: A comprehensive comparison between linear quadratic regulator (LQR) and the robust backstepping controller is provided, which affirms the superior performance of the proposed control design.
Journal ArticleDOI
Fuzzy-modal control for the ball and beam system
TL;DR: In this article, a fuzzy-modal controller for the ball-beam position control system is proposed. But the controller is based on the use of a set of modal control laws synthesized for different eigenvalues of a closed loop system.
Journal ArticleDOI
End-point tracking for a flexible robot arm
Luca Benvenuti,M.D. Di Benedetto +1 more
TL;DR: In this paper, a flexible robot arm trajectory control problem is approached by means of a procedure for obtaining approximate tracking for a nonlinear system whose linearization possesses right-half plane zeros.
Proceedings ArticleDOI
Global output regulation through singularities
Yuh Yamashita,A. Isidori +1 more
TL;DR: In this paper, the global output regulation problem using state-feedback for nonlinear systems with no relative degree is considered, and it is shown that a simple feedback on the new coordinate attains the output regulation through singularities.
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.