Title :
An application of robust feedback linearization to a ball and beam control problem
Author :
Chang, B.C. ; Kwatny, H. ; Hu, Shr-Shiung
Author_Institution :
Dept. of Mech. Eng., Drexel Univ., Philadelphia, PA, USA
Abstract :
We show how μ-synthesis can greatly improve the robustness against the inexact cancellation arising in feedback input-output linearization of nonlinear systems. A simulation of the nonlinear ball and beam tracking problem illustrates that μ-synthesis controllers can offer much better robust stability and robust performance than H∞ controllers
Keywords :
closed loop systems; control system synthesis; dynamics; feedback; linearisation techniques; nonlinear systems; robust control; tracking; ball beam control; closed loop systems; control synthesis; dynamics; feedback; linearization; nonlinear systems; robust control; stability; tracking; Computer simulation; Control systems; Linear approximation; Linear feedback control systems; Mechanical engineering; Nonlinear control systems; Nonlinear dynamical systems; Robust control; Robust stability; Robustness;
Conference_Titel :
Control Applications, 1998. Proceedings of the 1998 IEEE International Conference on
Conference_Location :
Trieste
Print_ISBN :
0-7803-4104-X
DOI :
10.1109/CCA.1998.728598
