Matching, linear systems, and the ball and beam
نویسندگان
چکیده
A recent approach to the control of underactuated systems is to look for control laws which will induce some speci3ed structure on the closed loop system. In this paper, we describe one matching condition and an approach for 3nding all control laws that 3t the condition. After an analysis of the resulting control laws for linear systems, we present the results from an experiment on a nonlinear ball and beam system. ? 2002 Elsevier Science Ltd. All rights reserved.
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A recent approach to the control of underactuated systems is to look for control laws which will induce some specified structure on the closed loop system. In this paper, we describe one matching condition and an approach for finding all control laws that fit the condition. After an analysis of the resulting control laws for linear systems, we present the results from an experiment on a nonline...
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This note describes a method for generating an infinite-dimensional family of nonlinear control laws for underactuated systems. For a ball and beam system, the entire family is found explicitly. Copyright c © 2000 IFAC
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ورودعنوان ژورنال:
- Automatica
دوره 38 شماره
صفحات -
تاریخ انتشار 2002