Title :
Exact linearization control for a nonlinear servo system
Author_Institution :
Coll. of Comput. Sci. & Technol., Harbin Univ. of Sci. & Technol., Harbin
Abstract :
The state-space equation of a hydraulic servo system was derived and the exact linearization method of nonlinear system was applied to transform the nonlinear system into a linear controllable one by coordinates transformation and state-space feedback. Then, the zero dynamics of the system was analyzed and the result shows that the zero dynamics of the linearized system was stable and the servo system can be exact linearized. Based on the linearization model, the control law was achieved through linear control theory. Then, the system zero dynamics was analyzed so as to verify the validity of the controller. Finally, the simulation results show that the system with designed controller is not only free from the overshoot, but also has good rapidity.
Keywords :
control system analysis; control system synthesis; hydraulic control equipment; linearisation techniques; nonlinear control systems; state feedback; state-space methods; exact linearization control; hydraulic servo system; nonlinear servo system; state-space equation; state-space feedback; system zero dynamics; Control systems; Control theory; Linear feedback control systems; Nonlinear control systems; Nonlinear dynamical systems; Nonlinear equations; Nonlinear systems; Servomechanisms; State feedback; Transforms; Coordinates transformation; Exact linearization; Nonlinear system;
Conference_Titel :
Control and Decision Conference, 2008. CCDC 2008. Chinese
Conference_Location :
Yantai, Shandong
Print_ISBN :
978-1-4244-1733-9
Electronic_ISBN :
978-1-4244-1734-6
DOI :
10.1109/CCDC.2008.4598309
