Title :
Output Feedback Regulation of a Brushed DC Motor: An IDA-PBC Approach
Author :
Rios-Bolivar, Miguel ; Acosta, Vivian ; Morillo, Atilio
Author_Institution :
Fac. de Ingenieria, Univ. de Los Andes, Merida
Abstract :
In this work, we consider the application of the interconnection and damping assignment (IDA) control design method to the asymptotic output feedback position regulation problem of a brushed DC motor driving a mechanical load. The applied approach is based on the asymptotic reconstruction of a stabilizing IDA control law through the design of a dynamic output feedback regulating control. Asymptotic stability of the mechanical position is verified by digital simulations
Keywords :
DC motors; asymptotic stability; control system synthesis; damping; machine control; nonlinear control systems; position control; state feedback; asymptotic output feedback position regulation; asymptotic stability; brushed DC motor; control design; damping assignment; digital simulation; interconnection; mechanical load; nonlinear control system; Control design; Control systems; DC motors; Damping; Design methodology; Electromechanical systems; Nonlinear systems; Output feedback; Potential energy; Shape control; Brushed DC Motor; Nonlinear control systems; Output feedback;
Conference_Titel :
Control, Automation, Robotics and Vision, 2006. ICARCV '06. 9th International Conference on
Conference_Location :
Singapore
Print_ISBN :
1-4244-0341-3
Electronic_ISBN :
1-4214-042-1
DOI :
10.1109/ICARCV.2006.345289
