Switching through Singularities
نویسنده
چکیده
Asymptotic tracking is studied for systems in which the relative degree is not well deened, meaning that the control law derived from exact input-output linearization has singularities in the state space. We propose a tracking control law which switches between approximate tracking 1] close to the singularities, and exact tracking away from the singularities, and we study the applicability of this law based on the behavior of the system's zero dynamics at the switching boundary. As in 1], the ball and beam example is used to motivate the study.
منابع مشابه
Switching through Singularitiesl
Asymptotic tracking is studied for systems which are not regular, that is th.e relative degree is not well defined. Hence the control law derived from exact inputoutput linearization has singularities in the state space. We propose a tracking control law which switches between an approximate tracking law [l] close to the singularities, and an exact tracking law away from the singularities, and ...
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