• DocumentCode
    847465
  • Title

    Dynamic compensation and decoupling for systems of uniform index 2

  • Author

    Bavarian, B. ; Hemami, H. ; Wyman, B.F.

  • Author_Institution
    Dept. of Electr. Eng., Ohio State Univ., Columbus, OH, USA
  • Volume
    30
  • Issue
    1
  • fYear
    1985
  • fDate
    1/1/1985 12:00:00 AM
  • Firstpage
    82
  • Lastpage
    84
  • Abstract
    A procedure for the design of an n-dimensional dynamic compensator for arbitrary pole placement for systems of dimension 2n and uniform controllability and observability indexes 2 is considered in state space representation and frequency domain. The design together with a minimal dimension dynamic compensator and Luenberger observer was applied to a two-link nonlinear biped n = 2 model in the vicinity of the vertical stance to test the effectiveness of their regulating actions.
  • Keywords
    Controllability, linear systems; Decoupling of systems, linear; Observability, linear systems; Pole assignment, linear systems; Aerodynamics; Controllability; Frequency domain analysis; Linear systems; Mathematics; Observability; Output feedback; Polynomials; State feedback; State-space methods;
  • fLanguage
    English
  • Journal_Title
    Automatic Control, IEEE Transactions on
  • Publisher
    ieee
  • ISSN
    0018-9286
  • Type

    jour

  • DOI
    10.1109/TAC.1985.1103791
  • Filename
    1103791
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=847465