DocumentCode
1726008
Title
Lyapunov function for the ball and beam: robustness property
Author
Mazenc, F. ; Astolfi, A. ; Lozano, R.
Author_Institution
Centre for Process Syst. Eng., Imperial Coll. of Sci., Technol. & Med., London, UK
Volume
2
fYear
1999
fDate
6/21/1905 12:00:00 AM
Firstpage
1208
Abstract
A smooth control Lyapunov function for the ball and beam system is proposed. Its construction relies on extensions of nonlinear control design techniques called backstepping and forwarding. The smooth state feedbacks resulting from this approach yield closed-loop systems with strong robustness properties
Keywords
Lyapunov methods; closed loop systems; control system synthesis; nonlinear control systems; robust control; state feedback; backstepping; ball and beam system; forwarding; nonlinear control design techniques; smooth control Lyapunov function; smooth state feedback; strong robustness properties; Backstepping; Control systems; Equations; Friction; Lyapunov method; Output feedback; Robust control; Robustness; Structural beams; Systems engineering and theory;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 1999. Proceedings of the 38th IEEE Conference on
Conference_Location
Phoenix, AZ
ISSN
0191-2216
Print_ISBN
0-7803-5250-5
Type
conf
DOI
10.1109/CDC.1999.830094
Filename
830094
Link To Document