Title :
Application of Statistical Linearization and LQG Design to Position Control
Author :
Beaman, Joseph J.
Author_Institution :
Department of Mechanical Engineering, The University of Texas at Austin, Austin, Texas 78712
Abstract :
Nonlinear Quadratic Gaussian control is applied to a position servomechanism with backlash. It is shown that as more nonlinearities are included in the system that the NQG predictions degrade. This is due to the increasingly nongaussian character of the statistics. A method for alleviating this problem is briefly mentioned. Experimental implementation of the control is shown.
Keywords :
Control systems; Cost function; Differential equations; Mechanical engineering; Motion control; Nonlinear control systems; Position control; Servomechanisms; Statistics; Stochastic systems;
Conference_Titel :
American Control Conference, 1983
Conference_Location :
San Francisco, CA, USA
