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.
- Control design
- Underactuated systems
ASJC Scopus subject areas
- Control and Systems Engineering
- Electrical and Electronic Engineering