• DocumentCode
    695947
  • 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
  • fYear
    2009
  • fDate
    23-26 Aug. 2009
  • Firstpage
    1155
  • Lastpage
    1160
  • 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;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Control Conference (ECC), 2009 European
  • Conference_Location
    Budapest
  • Print_ISBN
    978-3-9524173-9-3
  • Type

    conf

  • Filename
    7074561
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=695947