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
Intelligent Dynamic Inversion Controller Design for Ball and Beam System
Ibrahim M. Mehedi,Abdulah Jeza Aljohani,Md. Mottahir Alam,M. Mahmoud,Mohammed J. Abdulaal,Muhammad Bilal,Waleed Alasmary +6 more
TL;DR: In this paper , the authors investigated the control design technique by using Intelligent Dynamic Inversion (IDI) method for this nonlinear and unstable system and proposed a control law is an enhanced version of conventional dynamic inverse control incorporating an intelligent control element in it.
Proceedings ArticleDOI
Adaptive sliding mode control for Takagi-Sugeno fuzzy systems
TL;DR: This paper is devoted to robust adaptive sliding mode control for a class of nonlinear systems in the Takagi-Sugeno forms with mismatched parametric uncertainties with sufficient conditions for the existence of linear sliding surfaces.
Journal ArticleDOI
Switching Control of Ball and Beam System using Partial State Feedback: Jacobian and Two-Step Linearization Methods
Kyung-Tae Lee,Ho-Lim Choi +1 more
TL;DR: In this article, the authors proposed a switching control scheme for a ball and beam system by utilizing two linearization methods, namely, Jacobian linearization and state observer, which is called a two-step linearization method.
Proceedings ArticleDOI
Approximate linearization of nonlinear systems: a neural network approach
TL;DR: A novel method of approximate nonlinear system linearization with neural networks is proposed, designed to integrate the involutive equation of a non linear system no matter whether the integrability condition is satisfied or not.
Proceedings ArticleDOI
Switching control for ball and beam system
TL;DR: In this paper, switching controller consisting of stabilization controller and induced controller is designed for the ball and beam system and results are given to illustrate the effectiveness of the switching control.
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.