Title :
An internal equilibrium manifold method of tracking for nonlinear nonminimum phase systems
Author :
Getz, Neil H. ; Hedrick, J. Karl
Author_Institution :
Dept. of Electr. Eng. & Comput. Sci., California Univ., Berkeley, CA, USA
Abstract :
A new nonlinear controller for nonlinear nonminimum phase systems is described. The design is based upon an “internal equilibrium manifold”, a submanifold embedded in the state space. By controlling the state of the system to remain in a neighborhood of the submanifold, tracking with bounded error is achieved for an open set of output trajectories. The controller provides a significantly extended region of attraction over linear regulators. Regulation and tracking for the inverted pendulum on a cart demonstrates the control scheme
Keywords :
nonlinear control systems; state-space methods; tracking; bounded error; internal equilibrium manifold method; inverted pendulum; nonlinear controller; nonlinear nonminimum phase systems; region of attraction; state space; tracking; Control systems; Error correction; Filtering theory; Linear systems; Mechanical engineering; Nonlinear control systems; Regulators; Stability; State-space methods; Trajectory;
Conference_Titel :
American Control Conference, Proceedings of the 1995
Conference_Location :
Seattle, WA
Print_ISBN :
0-7803-2445-5
DOI :
10.1109/ACC.1995.531369
