Title :
Model following control of discontinuous mechanical systems
Author :
Nakakuki, Takashi ; Shen, Tielong ; Tamura, Katsutoshi
Author_Institution :
Dept. of Mech. Eng., Sophia Univ., Tokyo, Japan
Abstract :
In this paper, the model following control problem for mechanical systems with discontinuous uncertainty is considered. The approach to design the controller is based on Filippov´s framework and generalized Lyapunov stability theory. A model following controller which makes the error system asymptotically stable is derived in Filippov´s framework.
Keywords :
Lyapunov methods; asymptotic stability; control system synthesis; controllers; sampled data systems; Filippov framework; Filippov solution; asymptotic stability; controller design; discontinuous mechanical systems; error system; generalized Lyapunov stability theory; model following control;
Conference_Titel :
SICE 2004 Annual Conference
Conference_Location :
Sapporo
Print_ISBN :
4-907764-22-7
