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
fDate :
6/21/1905 12:00:00 AM
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;
Conference_Titel :
Decision and Control, 1999. Proceedings of the 38th IEEE Conference on
Conference_Location :
Phoenix, AZ
Print_ISBN :
0-7803-5250-5
DOI :
10.1109/CDC.1999.830094
