Title :
An homotopy method for exact tracking of nonlinear nonminimum phase systems: The example of the spherical inverted pendulum
Author :
Consolini, Luca ; Tosques, Mario
Author_Institution :
Dipt. di Ing. dell´´Inf., Univ. degli Studi di Parma, Parma, Italy
Abstract :
This paper considers an ldquohomotopy methodrdquo for solving the exact tracking problem for nonlinear affine nonminimum phase systems. The method is presented in a general setting and is applied to the special case of the spherical pendulum. This approach allows finding sufficient conditions for exact tracking for T-periodic curves and bounds on the internal dynamics.
Keywords :
nonlinear systems; pendulums; tracking; T-periodic curves; homotopy method; internal dynamics; nonlinear nonminimum phase system tracking; spherical inverted pendulum; Aircraft; Control systems; Differential equations; Eigenvalues and eigenfunctions; Motorcycles; Nonlinear control systems; Sufficient conditions; Symmetric matrices; Trajectory;
Conference_Titel :
American Control Conference, 2009. ACC '09.
Conference_Location :
St. Louis, MO
Print_ISBN :
978-1-4244-4523-3
Electronic_ISBN :
0743-1619
DOI :
10.1109/ACC.2009.5160575
