Matching, linear systems, and the ball and beam

F. Andreev; D. Auckly; S. Gosavi; L. Kapitanski; A. Kelkar; W. White

doi:10.1016/S0005-1098(02)00145-0

Matching, linear systems, and the ball and beam

F. Andreev
, D. Auckly
, S. Gosavi
, L. Kapitanski
, A. Kelkar
, W. White

Watson Dean's Office

Binghamton University

Western Illinois University
Kansas State University

Research output: Contribution to journal › Article › peer-review

50 Scopus citations

Abstract

A recent approach to the control of underactuated systems is to look for control laws which will induce some specified structure on the closed loop system. In this paper, we describe one matching condition and an approach for finding all control laws that fit the condition. After an analysis of the resulting control laws for linear systems, we present the results from an experiment on a nonlinear ball and beam system.

Original language	English
Pages (from-to)	2147-2152
Number of pages	6
Journal	Automatica
Volume	38
Issue number	12
DOIs	https://doi.org/10.1016/S0005-1098(02)00145-0
State	Published - Dec 2002

Keywords

Control design
Lambda-method
Underactuated systems

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10.1016/S0005-1098(02)00145-0

Cite this

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AU - Andreev, F.

AU - Auckly, D.

AU - Gosavi, S.

AU - Kapitanski, L.

AU - Kelkar, A.

AU - White, W.

PY - 2002/12

Y1 - 2002/12

N2 - A recent approach to the control of underactuated systems is to look for control laws which will induce some specified structure on the closed loop system. In this paper, we describe one matching condition and an approach for finding all control laws that fit the condition. After an analysis of the resulting control laws for linear systems, we present the results from an experiment on a nonlinear ball and beam system.

AB - A recent approach to the control of underactuated systems is to look for control laws which will induce some specified structure on the closed loop system. In this paper, we describe one matching condition and an approach for finding all control laws that fit the condition. After an analysis of the resulting control laws for linear systems, we present the results from an experiment on a nonlinear ball and beam system.

KW - Control design

KW - Lambda-method

KW - Underactuated systems

UR - https://www.scopus.com/pages/publications/0036888139

U2 - 10.1016/S0005-1098(02)00145-0

DO - 10.1016/S0005-1098(02)00145-0

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VL - 38

SP - 2147

EP - 2152

JO - Automatica

JF - Automatica

IS - 12

ER -

Matching, linear systems, and the ball and beam

Abstract

Keywords

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