Title :
TORA example: cascade- and passivity-based control designs
Author :
M. Jankovic;D. Fontaine;P.V. Kokotovic
Author_Institution :
Dept. of Electr. & Comput. Eng., California Univ., Santa Barbara, CA, USA
Abstract :
We consider the problem of feedback stabilization of translational oscillations by a rotational actuator (TORA) system. The main obstacle to controller design is nonlinear coupling from the rotational to the translational motion through a sinusoidal term. We present several controller designs based on the cascade and passivity paradigms.
Keywords :
"Feedback","Actuators","Control systems","DC motors","Torque control","Motion control","Couplings","Damping","Gravity","Rotors"
Journal_Title :
IEEE Transactions on Control Systems Technology
