Title :
Hybrid control of systems with poorly defined relative degree: the ball-on-beam example
Author :
Simmons, Adam T. ; Hung, John Y.
Author_Institution :
Auburn Univ., AL, USA
Abstract :
In this paper, the authors propose a hybrid approach to controlling systems with poorly defined relative degree. The ball-on-beam problem is used as a vehicle for discussion. The hybrid approach employs linear control near the nominal condition. Nonlinear control designed by Lyapunov stability criteria augments the control to increase the region of asymptotic stability. The problem of poorly defined relative degree is also addressed in the control.
Keywords :
Lyapunov methods; asymptotic stability; beams (structures); linear systems; nonlinear control systems; Lyapunov stability criteria; asymptotic stability; ball-on-beam problems; hybrid control systems; linear control system; nonlinear control design; Asymptotic stability; Control design; Control systems; Differential equations; Lyapunov method; Nonlinear control systems; Nonlinear systems; Poles and zeros; State-space methods; Torque;
Conference_Titel :
Industrial Electronics Society, 2004. IECON 2004. 30th Annual Conference of IEEE
Print_ISBN :
0-7803-8730-9
DOI :
10.1109/IECON.2004.1432182
