DocumentCode
2317515
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
Volume
1
fYear
1998
fDate
1-4 Sep 1998
Firstpage
694
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Applications, 1998. Proceedings of the 1998 IEEE International Conference on
Conference_Location
Trieste
Print_ISBN
0-7803-4104-X
Type
conf
DOI
10.1109/CCA.1998.728598
Filename
728598
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