Title :
Matching and digital control implementation for underactuated systems
Author :
Andreev, F. ; Auckly, D. ; Kapitanski, L. ; Kelkar, Atul G. ; White, Warren N.
Author_Institution :
Dept. of Math., Kansas State Univ., Manhattan, KS, USA
Abstract :
This paper describes two problems related to the digital implementation of control laws in the infinite dimensional family of matching control laws, namely state estimation and sampled data induced error. The entire family of control laws is written for an inverted pendulum cart. Numerical simulations which include sampled data and a state estimator are presented for one of the control laws in this family
Keywords :
asymptotic stability; closed loop systems; digital control; multidimensional systems; sampled data systems; state estimation; state feedback; asymptotic stability; closed loop systems; digital control; infinite dimensional systems; inverted pendulum cart; sampled data systems; state estimation; state feedback; underactuated systems; Continuous time systems; Control systems; Digital control; Eigenvalues and eigenfunctions; Lyapunov method; Mathematics; Nonlinear control systems; Sampling methods; State estimation; State feedback;
Conference_Titel :
American Control Conference, 2000. Proceedings of the 2000
Conference_Location :
Chicago, IL
Print_ISBN :
0-7803-5519-9
DOI :
10.1109/ACC.2000.876960
