Title :
The Problem of Output Tracking for Nonlinear Systems in the Presence of Singular Points
Author_Institution :
CENTRO DE INVESTIGACION Y DE ESTUDIOS AVANZADOS DEL IPN., DEPTO. DE ING. ELECTRICA. SECCION DE CONTROL AUTOMATICO., APDO. POSTAL 14-740., MEXICO, D.F. MEXICO. FAX (5) 586.62.92
Abstract :
The problem of output tracking in the presence of singularities started by Hirschorn and Davis (1987)2 is reexamined. A change of coordinates which allows us to make a study of the closed-loop stability of the nonlinear system is proposed. An error feedback control law relaxes the initial conditions imposed on the system and the function to be followed, obtaining asymptotic output tracking. Finally a study of the singular tracking problem, when there exists disturbances in the dynamics, is made.
Keywords :
Automatic control; Control systems; Error correction; Feedback control; Linearization techniques; Nonlinear control systems; Nonlinear dynamical systems; Nonlinear systems; Polynomials; Stability; Output tracking; disturbances; linearization techniques; nonlinear systems; singular control; stability;
Conference_Titel :
American Control Conference, 1993
Conference_Location :
San Francisco, CA, USA
Print_ISBN :
0-7803-0860-3
