Title :
A feedback control design for a class of nonlinear systems
Author :
Busawon, K. ; de Leon Morales, Jesas ; Saif, M.
Author_Institution :
Univ. Autonoma de Nuevo Leon, San Nicolas de Los Garza, Mexico
Abstract :
We propose a high gain controller design for a class of single-input control affine systems. The design methodology adopted is an adaptation of linear design techniques to solve nonlinear control design problems. Consequently, the design is simple and easy to implement. An application dealing with a flexible joint mechanism is made to show the performance of the proposed controller
Keywords :
asymptotic stability; control system synthesis; controllability; feedback; flexible manipulators; manipulator dynamics; nonlinear control systems; affine systems; asymptotic stability; controllability; dynamics; feedback; flexible joint mechanism; gain controller; nonlinear control systems; robot arm; Control design; Control systems; Controllability; Design methodology; Ear; Feedback control; Jacobian matrices; Nonlinear control systems; Nonlinear systems; State feedback;
Conference_Titel :
American Control Conference, 1999. Proceedings of the 1999
Conference_Location :
San Diego, CA
Print_ISBN :
0-7803-4990-3
DOI :
10.1109/ACC.1999.782429
