Nonlocal Control of the Ball and Beam System: Regulation and Tracking
نویسندگان
چکیده
For nonlinear control, two problems are usually involved: regulation and tracking. By regulation, we mean make the system stable at the equilibrium point. By tracking, we mean to let the system output track a given trajectory while maintaining stability. In this paper, we try to solve these two problems in the same framework. The idea here is to represent the original nonlinear system by the T-S fuzzy model exactly. For regulation, the PDC control laws will be derived based on LMI conditions. For tracking, the feedback linearization technique is combined with T-S model to give a fuzzy control law. The Ball and Beam, a typical nonlinear example, is used in this paper for illustration.
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