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 | |
| State | Published - Dec 2002 |
| Externally published | Yes |
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Keywords
- Control design
- Lambda-method
- Underactuated systems
ASJC Scopus subject areas
- Control and Systems Engineering
- Electrical and Electronic Engineering
Cite this
Matching, linear systems, and the ball and beam. / Andreev, F.; Auckly, D.; Gosavi, S.; Kapitanski, Lev; Kelkar, A.; White, W.
In: Automatica, Vol. 38, No. 12, 12.2002, p. 2147-2152.Research output: Contribution to journal › Article
}
TY - JOUR
T1 - Matching, linear systems, and the ball and beam
AU - Andreev, F.
AU - Auckly, D.
AU - Gosavi, S.
AU - Kapitanski, Lev
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
UR - http://www.scopus.com/inward/record.url?scp=0036888139&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=0036888139&partnerID=8YFLogxK
U2 - 10.1016/S0005-1098(02)00145-0
DO - 10.1016/S0005-1098(02)00145-0
M3 - Article
AN - SCOPUS:0036888139
VL - 38
SP - 2147
EP - 2152
JO - Automatica
JF - Automatica
SN - 0005-1098
IS - 12
ER -