• DocumentCode
    3223024
  • 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
  • Volume
    3
  • fYear
    2004
  • fDate
    2-6 Nov. 2004
  • Firstpage
    2436
  • 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;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Industrial Electronics Society, 2004. IECON 2004. 30th Annual Conference of IEEE
  • Print_ISBN
    0-7803-8730-9
  • Type

    conf

  • DOI
    10.1109/IECON.2004.1432182
  • Filename
    1432182
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3223024