Matching, linear systems, and the ball and beam

F. Andreev; D. Auckly; S. Gosavi; L. Kapitanski; A. Kelkar; W. White

doi:10.1016/S0005-1098(02)00145-0

Matching, linear systems, and the ball and beam

F. Andreev, D. Auckly, S. Gosavi, L. Kapitanski, A. Kelkar, W. White

Research output: Contribution to journal › Article › peer-review

39 Scopus citations

Abstract

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 nonlinear ball and beam system.

Original language	English (US)
Pages (from-to)	2147-2152
Number of pages	6
Journal	Automatica
Volume	38
Issue number	12
DOIs	https://doi.org/10.1016/S0005-1098(02)00145-0
State	Published - Dec 2002
Externally published	Yes

Keywords

Control design
Lambda-method
Underactuated systems

ASJC Scopus subject areas

Control and Systems Engineering
Electrical and Electronic Engineering

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10.1016/S0005-1098(02)00145-0

Cite this

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AU - Andreev, F.

AU - Auckly, D.

AU - Gosavi, S.

AU - Kapitanski, L.

AU - Kelkar, A.

AU - White, W.

PY - 2002/12

Y1 - 2002/12

N2 - 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 nonlinear ball and beam system.

AB - 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 nonlinear ball and beam system.

KW - Control design

KW - Lambda-method

KW - Underactuated systems

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ER -

Matching, linear systems, and the ball and beam

Abstract

Keywords

ASJC Scopus subject areas

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