Title :
Nonlinear control via approximate input-output linearization: the ball and beam example
Author :
Hauser, John ; Sastry, Shankar ; Kokotovic, Petar
Author_Institution :
Dept. of Electr. Eng.-Syst., Univ. of Southern California, Los Angeles, CA, USA
fDate :
3/1/1992 12:00:00 AM
Abstract :
Approximate input-output linearization of nonlinear systems which fail to have a well defined relative degree is studied. For such systems, a method for constructing approximate systems that are input-output linearizable is provided. The analysis presented is motivated through its application to a common undergraduate control laboratory experiment-the ball and beam-where it is shown to be more effective for trajectory tracking than the standard Jacobian linearization
Keywords :
education; linearisation techniques; nonlinear control systems; approximate input-output linearization; ball and beam; trajectory tracking; undergraduate control laboratory experiment; Acceleration; Control systems; Jacobian matrices; Laboratories; Linear approximation; Linear systems; Nonlinear systems; Particle beams; Torque; Trajectory;
Journal_Title :
Automatic Control, IEEE Transactions on
