Title :
Universal control formula for feedback linearizable systems with local LQ performance
Author :
Nakamura, Hisakazu ; Sato, Yasuyuki ; Nakamura, Nami ; Katayama, Hitoshi ; Nishitani, Hirokazu
Author_Institution :
Grad. Sch. of Inf. Sci., Nara Inst. of Sci. & Technol., Ikoma, Japan
Abstract :
In this paper, we propose a universal control formula with local LQ performance for feedback linearizable systems. We show the inverse optimality and the gain margin of the proposed controller. The proposed controller provides an easy transformation method from a local LQ controller to the nonlinear inverse optimal controller. The effectiveness of the proposed method is confirmed by experiments of a magnetic levitation system.
Keywords :
feedback; inverse problems; linear quadratic control; nonlinear control systems; feedback linearizable systems; gain margin; inverse optimality; local LQ performance; magnetic levitation system; nonlinear inverse optimal controller; universal control formula; Control design; Equations; Lyapunov methods; Magnetic levitation; Mathematical model; Optimal control;
Conference_Titel :
Control Conference (ECC), 2009 European
Conference_Location :
Budapest
Print_ISBN :
978-3-9524173-9-3
