Title :
Recursive interlacing control of flat and non-flat systems
Author :
Pin Liu ; Zinober, Alan S. I.
Author_Institution :
Sch. of Math. & Stat., Univ. of Sheffield, Sheffield, UK
Abstract :
The applicability of backstepping and recursive interlacing techniques to flat and non-flat systems is discussed in this paper. The backstepping method can be widely used for regulating (especially stabilizing) flat and minimum phase non-flat systems. A recursive interlacing method for controlling non-flat non-minimum phase nonlinear systems is presented. Some examples, especially the ball and beam system, are discussed to illustrate the design procedures. The method can be extended to a large class of nonlinear systems which are not linearizable.
Keywords :
beams (structures); control nonlinearities; nonlinear control systems; backstepping technique; ball and beam system; design procedures; flat system; nonflat nonminimum phase nonlinear system control; nonflat system; recursive interlacing control; recursive interlacing technique; Acceleration; Backstepping; Lyapunov methods; Nonlinear dynamical systems; Particle beams; Trajectory; Backstepping; adaptive control; flat systems; recursive interlacing; sliding mode control;
Conference_Titel :
Control Conference (ECC), 1997 European
Conference_Location :
Brussels
Print_ISBN :
978-3-9524269-0-6
