Title :
Physical insights on passivity-based TORA control designs
Author_Institution :
Dept. of Mech. & Ind. Eng., Illinois Univ., Urbana, IL, USA
fDate :
5/1/1998 12:00:00 AM
Abstract :
Jankovic et al. (ibid., vol.4, p.292-7, 1996) developed a series of cascadeand passivity-based control designs for the control of a translational oscillation rotational actuation (TORA) benchmark example. Two of the passivity-based control designs have strong mechanical underpinnings. In this brief letter, valuable physical insight into the passivity-based control is demonstrated using a basic theory of vibration analysis
Keywords :
actuators; cascade control; nonlinear control systems; cascade-based TORA control designs; passivity-based TORA control designs; passivity-based control designs; translational oscillation rotational actuation control; vibration analysis; Actuators; Angular velocity; Control design; Control systems; DC motors; Damping; Feedback; Nonlinear control systems; Torque; Vibration control;
Journal_Title :
Control Systems Technology, IEEE Transactions on
