Matching, linear systems, and the ball and beam

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

Research output: Contribution to journalArticle

38 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 languageEnglish (US)
Pages (from-to)2147-2152
Number of pages6
JournalAutomatica
Volume38
Issue number12
DOIs
StatePublished - Dec 1 2002
Externally publishedYes

Keywords

  • Control design
  • Lambda-method
  • Underactuated systems

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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    Andreev, F., Auckly, D., Gosavi, S., Kapitanski, L., Kelkar, A., & White, W. (2002). Matching, linear systems, and the ball and beam. Automatica, 38(12), 2147-2152. https://doi.org/10.1016/S0005-1098(02)00145-0