NONLINEAR CONTROL VIA APPROXIMATE INPUT OUTPUT LINEARIZATION - THE BALL AND BEAM EXAMPLE

被引：384

作者：

HAUSER, J

SASTRY, S

KOKOTOVIC, P

机构：

[1] UNIV CALIF BERKELEY,DEPT ELECT ENGN & COMP SCI,BERKELEY,CA 94720

[2] UNIV CALIF SANTA BARBARA,CTR CONTROL ENGN & COMPUTAT,SANTA BARBARA,CA 93106

来源：

IEEE TRANSACTIONS ON AUTOMATIC CONTROL | 1992年 / 37卷 / 03期

关键词：

D O I：

10.1109/9.119645

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

We study approximate input-output linearization of nonlinear systems which fail to have a well defined relative degree. For such systems, we provide a method for constructing approximate systems that are input-output linearizable. The analysis presented in this note is motivated through its application to a common undergraduate control laboratory experiment-the ball and beam system-where it is shown to be more effective for trajectory tracking than the standard Jacobian linearization.

引用

页码：392 / 398

页数：7

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