Title :
Approximate tracking near singularities. A differential algebraic approach
Author :
Castillo, B. ; Posniak, A. ; López, V.
Author_Institution :
Dept. of Electr. Eng., CINVESTAV-IPN, Mexico City, Mexico
Abstract :
In this work, recent results based on differential algebra tools are used for the synthesis of a dynamical feedback controller for a SISO nonlinear system exhibiting points of singularity. An approximated inversion-based controlled is synthetized using the Flies´ generalized observability canonical form (GOCF) associated to the system. The basic idea is to search for an approximate system, which does not exhibits points of singularity, and for which an exact inversion-based (dynamical) controller can be calculated. This controller, when applied to the original system, guarantees bounded tracking error near the singularities, provided certain functions are bounded for small values of their arguments
Keywords :
control system synthesis; differential equations; feedback; nonlinear control systems; observability; tracking; Flies method; SISO nonlinear system; approximate system; ball-beam system; bounded tracking error; differential algebra; dynamical feedback controller; exact inversion-based controller; generalized observability canonical form; singularity; Automatic control; Control system synthesis; Control systems; Differential equations; Error correction; Nonlinear control systems; Nonlinear systems;
Conference_Titel :
Decision and Control, 1993., Proceedings of the 32nd IEEE Conference on
Conference_Location :
San Antonio, TX
Print_ISBN :
0-7803-1298-8
DOI :
10.1109/CDC.1993.325701
